/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
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*
* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
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* used to endorse or promote products derived from this software
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/**
* @file actuator_direct.h
*
* Actuator direct values.
*
* Values published to this topic are the direct actuator values which
* should be passed to actuators, bypassing mixing
*/
#ifndef TOPIC_ACTUATOR_DIRECT_H
#define TOPIC_ACTUATOR_DIRECT_H
#include <stdint.h>
#include "../uORB.h"
#define NUM_ACTUATORS_DIRECT 16
/**
* @addtogroup topics
* @{
*/
struct actuator_direct_s {
uint64_t timestamp; /**< timestamp in us since system boot */
float values[NUM_ACTUATORS_DIRECT]; /**< actuator values, from -1 to 1 */
unsigned nvalues; /**< number of valid values */
};
/**
* @}
*/
/* actuator direct ORB */
ORB_DECLARE(actuator_direct);
#endif // TOPIC_ACTUATOR_DIRECT_H
