Merge pull request #7 from ipa-cob4-2/indigo_dev

updates from cob4-2
Merge pull request #8 from ipa-cob4-2/indigo_dev

updates from cob4-2
Mode change advance
Merge pull request #9 from thiagodefreitas/indigo_new_structure

Mode change advance
Merge pull request #4 from ipa-fmw/indigo_new_structure

Indigo new structure