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/**
* @file rc_channels.h
* Definition of the rc_channels uORB topic.
*/
#ifndef RC_CHANNELS_H_
#define RC_CHANNELS_H_
#include <stdint.h>
#include "../uORB.h"
/**
* The number of RC channel inputs supported.
* Current (Q4/2013) radios support up to 18 channels,
* leaving at a sane value of 15.
* This number can be greater then number of RC channels,
* because single RC channel can be mapped to multiple
* functions, e.g. for various mode switches.
*/
#define RC_CHANNELS_MAPPED_MAX 15
/**
* This defines the mapping of the RC functions.
* The value assigned to the specific function corresponds to the entry of
* the channel array chan[].
*/
enum RC_CHANNELS_FUNCTION {
THROTTLE = 0,
ROLL = 1,
PITCH = 2,
YAW = 3,
MODE = 4,
RETURN = 5,
POSCTL = 6,
LOITER = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,
AUX_2 = 11,
AUX_3 = 12,
AUX_4 = 13,
AUX_5 = 14,
RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};
/**
* @addtogroup topics
* @{
*/
struct rc_channels_s {
uint64_t timestamp; /**< In microseconds since boot time. */
uint64_t timestamp_last_valid; /**< timestamp of last valid RC signal. */
struct {
float scaled; /**< Scaled to -1..1 (throttle: 0..1) */
} chan[RC_CHANNELS_MAPPED_MAX];
uint8_t chan_count; /**< number of valid channels */
/*String array to store the names of the functions*/
char function_name[RC_CHANNELS_FUNCTION_MAX][20];
int8_t function[RC_CHANNELS_FUNCTION_MAX];
uint8_t rssi; /**< Overall receive signal strength */
bool signal_lost; /**< control signal lost, should be checked together with topic timeout */
}; /**< radio control channels. */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(rc_channels);
#endif