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/**
 * @file multirotor_motor_limits.h
 *
 * Definition of multirotor_motor_limits  topic
 */

#ifndef MULTIROTOR_MOTOR_LIMITS_H_
#define MULTIROTOR_MOTOR_LIMITS_H_

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

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

/**
 * Motor limits
 */
struct multirotor_motor_limits_s {
        uint8_t roll_pitch	: 1; // roll/pitch limit reached
        uint8_t yaw		: 1; // yaw limit reached
        uint8_t throttle_lower	: 1; // lower throttle limit reached
        uint8_t throttle_upper	: 1; // upper throttle limit reached
        uint8_t reserved	: 4;
};

/**
 * @}
 */

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

#endif