/****************************************************************************
*
* 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
* 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
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/**
* @file actuator_controls.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system, and are expected to be mixed and used to drive the actuators
* (servos, speed controls, etc.) that operate the vehicle.
*
* Each topic can be published by a single controller
*/
#ifndef TOPIC_ACTUATOR_SAFETY_H
#define TOPIC_ACTUATOR_SAFETY_H
#include <stdint.h>
#include "../uORB.h"
/** global 'actuator output is live' control. */
struct actuator_safety_s {
uint64_t timestamp;
bool safety_off; /**< Set to true if safety is off */
bool armed; /**< Set to true if system is armed */
bool ready_to_arm; /**< Set to true if system is ready to be armed */
bool lockdown; /**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
bool hil_enabled; /**< Set to true if hardware-in-the-loop (HIL) is enabled */
};
ORB_DECLARE(actuator_safety);
#endif