add control state topic

msg/control_state.msg

@@ -0,0 +1,18 @@
+# This is similar to the mavlink message CONTROL_SYSTEM_STATE, but for onboard use */
+uint64 timestamp		# in microseconds since system start
+float32 x_acc			# X acceleration in body frame
+float32 y_acc			# Y acceleration in body frame
+float32 z_acc			# Z acceleration in body frame
+float32 x_vel			# X velocity in body frame
+float32 y_vel			# Y velocity in body frame
+float32 z_vel			# Z velocity in body frame
+float32 x_pos			# X position in local frame
+float32 y_pos			# Y position in local frame
+float32 z_pos			# z position in local frame
+float32 airspeed		# Airspeed, estimated
+float32[3] vel_variance	# Variance in body velocity estimate
+float32[3] pos_variance	# Variance in local position estimate
+float32[4] q 			# Attitude Quaternion
+float32 roll_rate		# Roll body angular rate (rad/s, x forward/y right/z down)
+float32 pitch_rate		# Pitch body angular rate (rad/s, x forward/y right/z down)
+float32 yaw_rate		# Yaw body angular rate (rad/s, x forward/y right/z down)

src/modules/uORB/objects_common.cpp

@@ -69,6 +69,9 @@ ORB_DEFINE(pwm_input, struct pwm_input_s);
 #include "topics/vehicle_attitude.h"
 ORB_DEFINE(vehicle_attitude, struct vehicle_attitude_s);
 
+#include "topics/control_state.h"
+ORB_DEFINE(control_state, struct control_state_s);
+
 #include "topics/sensor_combined.h"
 ORB_DEFINE(sensor_combined, struct sensor_combined_s);
 

src/platforms/px4_includes.h

@@ -87,6 +87,7 @@
 #include <platforms/nuttx/px4_messages/px4_actuator_controls_3.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_rates_setpoint.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_attitude.h>
+#include <platforms/nuttx/px4_messages/px4_control_state.h>
 #include <platforms/nuttx/px4_messages/px4_vehicle_control_mode.h>
 #include <platforms/nuttx/px4_messages/px4_actuator_armed.h>
 #include <platforms/nuttx/px4_messages/px4_parameter_update.h>