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 *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
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 *
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/**
 * @file manual_control_setpoint.h
 * Definition of the manual_control_setpoint uORB topic.
 */

#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
#define TOPIC_MANUAL_CONTROL_SETPOINT_H_

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

/**
 * Switch position
 */
typedef enum {
	SWITCH_POS_NONE = 0,		/**< switch is not mapped */
	SWITCH_POS_ON,			/**< switch activated (value = 1) */
	SWITCH_POS_MIDDLE,		/**< middle position (value = 0) */
	SWITCH_POS_OFF			/**< switch not activated (value = -1) */
} switch_pos_t;

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

struct manual_control_setpoint_s {
	uint64_t timestamp;

	/**
	 * Any of the channels may not be available and be set to NaN
	 * to indicate that it does not contain valid data.
	 * The variable names follow the definition of the
	 * MANUAL_CONTROL mavlink message.
	 * The default range is from -1 to 1 (mavlink message -1000 to 1000)
	 * The range for the z variable is defined from 0 to 1. (The z field of
	 * the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
	 */
	float x;			/**< stick position in x direction -1..1
					  in general corresponds to forward/back motion or pitch of vehicle,
					  in general a positive value means forward or negative pitch and
					  a negative value means backward or positive pitch */
	float y;			/**< stick position in y direction -1..1
					  in general corresponds to right/left motion or roll of vehicle,
					  in general a positive value means right or positive roll and
					  a negative value means left or negative roll */
	float z;			/**< throttle stick position 0..1
					  in general corresponds to up/down motion or thrust of vehicle,
					  in general the value corresponds to the demanded throttle by the user,
					  if the input is used for setting the setpoint of a vertical position
					  controller any value > 0.5 means up and any value < 0.5 means down */
	float r;			/**< yaw stick/twist positon, -1..1
					  in general corresponds to the righthand rotation around the vertical
					  (downwards) axis of the vehicle */
	float flaps;			/**< flap position */
	float aux1;			/**< default function: camera yaw / azimuth */
	float aux2;			/**< default function: camera pitch / tilt */
	float aux3;			/**< default function: camera trigger */
	float aux4;			/**< default function: camera roll */
	float aux5;			/**< default function: payload drop */

	switch_pos_t mode_switch;	/**< main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO */
	switch_pos_t return_switch;	/**< return to launch 2 position switch (mandatory): _NORMAL_, RTL */
	switch_pos_t posctl_switch;	/**< position control 2 position switch (optional): _ALTCTL_, POSCTL */
	switch_pos_t loiter_switch;	/**< loiter 2 position switch (optional): _MISSION_, LOITER */
	switch_pos_t acro_switch;	/**< acro 2 position switch (optional): _MANUAL_, ACRO */
	switch_pos_t offboard_switch;	/**< offboard 2 position switch (optional): _NORMAL_, OFFBOARD */
};

/**
 * @}
 */

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

#endif