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* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
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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"
/**
* This defines the mapping of the RC functions.
* The value assigned to the specific function corresponds to the entry of
* the channel array channels[].
*/
enum RC_CHANNELS_FUNCTION {
THROTTLE = 0,
ROLL,
PITCH,
YAW,
MODE,
RETURN,
POSCTL,
LOITER,
OFFBOARD_MODE,
ACRO,
FLAPS,
AUX_1,
AUX_2,
AUX_3,
AUX_4,
AUX_5,
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; /**< Timestamp in microseconds since boot time */
uint64_t timestamp_last_valid; /**< Timestamp of last valid RC signal */
float channels[RC_CHANNELS_FUNCTION_MAX]; /**< Scaled to -1..1 (throttle: 0..1) */
uint8_t channel_count; /**< Number of valid channels */
char function_name[RC_CHANNELS_FUNCTION_MAX][20]; /**< String array to store the names of the functions */
int8_t function[RC_CHANNELS_FUNCTION_MAX]; /**< Functions mapping */
uint8_t rssi; /**< Receive signal strength index */
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
