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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