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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"

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

struct manual_control_setpoint_s {
	uint64_t timestamp;

	float roll;			 	/**< ailerons roll / roll rate input */
	float pitch;				/**< elevator / pitch / pitch rate */
	float yaw;				/**< rudder / yaw rate / yaw */
	float throttle;				/**< throttle / collective thrust / altitude */

	float mode_switch;			/**< mode 3 position switch (mandatory): manual, assisted, auto */
	float return_switch;			/**< land 2 position switch (mandatory): land, no effect */
	float assisted_switch;			/**< assisted 2 position switch (optional): seatbelt, simple */
	float mission_switch;		/**< mission 2 position switch (optional): mission, loiter */

	/**
	 * Any of the channels below may not be available and be set to NaN
	 * to indicate that it does not contain valid data.
	 */

	// XXX needed or parameter?
	//float auto_offboard_input_switch;	/**< controller setpoint source (0 = onboard, 1 = offboard) */

	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 */

}; /**< manual control inputs */

/**
 * @}
 */

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

#endif