/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file vehicle_command.h
* Definition of the vehicle command uORB topic.
*/
#ifndef TOPIC_VEHICLE_COMMAND_H_
#define TOPIC_VEHICLE_COMMAND_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
enum PX4_CMD {
PX4_CMD_CONTROLLER_SELECTION = 1000,
};
struct vehicle_command_s
{
float param1; /**< Parameter 1, as defined by MAVLink MAV_CMD enum. */
float param2; /**< Parameter 2, as defined by MAVLink MAV_CMD enum. */
float param3; /**< Parameter 3, as defined by MAVLink MAV_CMD enum. */
float param4; /**< Parameter 4, as defined by MAVLink MAV_CMD enum. */
float param5; /**< Parameter 5, as defined by MAVLink MAV_CMD enum. */
float param6; /**< Parameter 6, as defined by MAVLink MAV_CMD enum. */
float param7; /**< Parameter 7, as defined by MAVLink MAV_CMD enum. */
uint16_t command; /**< Command ID, as defined MAVLink by MAV_CMD enum. */
uint8_t target_system; /**< System which should execute the command */
uint8_t target_component; /**< Component which should execute the command, 0 for all components */
uint8_t source_system; /**< System sending the command */
uint8_t source_component; /**< Component sending the command */
uint8_t confirmation; /**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
}; /**< command sent to vehicle */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_command);
#endif
