/****************************************************************************
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 *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
 *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
 *   		 Lorenz Meier <lm@inf.ethz.ch>
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 *
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 *    notice, this list of conditions and the following disclaimer in
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 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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/**
 * @file filtered_bottom_flow.h
 * Definition of the filtered bottom flow uORB topic.
 */

#ifndef TOPIC_FILTERED_BOTTOM_FLOW_H_
#define TOPIC_FILTERED_BOTTOM_FLOW_H_

#include <stdint.h>
#include <stdbool.h>
#include "../uORB.h"

/**
 * @addtogroup topics
 * @{
 */

/**
 * Filtered bottom flow in bodyframe.
 */
struct filtered_bottom_flow_s
{
	uint64_t timestamp;		/**< time of this estimate, in microseconds since system start */

	float sumx;				/**< Integrated bodyframe x flow in meters					   */
	float sumy;				/**< Integrated bodyframe y flow in meters			   		   */

	float vx; 				/**< Flow bodyframe x speed, m/s							   */
	float vy;				/**< Flow bodyframe y Speed, m/s 							   */
};

/**
 * @}
 */

/* register this as object request broker structure */
ORB_DECLARE(filtered_bottom_flow);

#endif