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/**
 * @file offboard_control_setpoint.h
 * Definition of the manual_control_setpoint uORB topic.
 */

#ifndef TOPIC_OFFBOARD_CONTROL_SETPOINT_H_
#define TOPIC_OFFBOARD_CONTROL_SETPOINT_H_

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

/**
 * Off-board control inputs.
 *
 * Typically sent by a ground control station / joystick or by
 * some off-board controller via C or SIMULINK.
 */
enum OFFBOARD_CONTROL_MODE {
	OFFBOARD_CONTROL_MODE_DIRECT = 0,
	OFFBOARD_CONTROL_MODE_DIRECT_RATES = 1,
	OFFBOARD_CONTROL_MODE_DIRECT_ATTITUDE = 2,
	OFFBOARD_CONTROL_MODE_DIRECT_VELOCITY = 3,
	OFFBOARD_CONTROL_MODE_DIRECT_POSITION = 4,
	OFFBOARD_CONTROL_MODE_ATT_YAW_RATE = 5,
	OFFBOARD_CONTROL_MODE_ATT_YAW_POS = 6,
	OFFBOARD_CONTROL_MODE_MULTIROTOR_SIMPLE = 7, /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};

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

struct offboard_control_setpoint_s {
	uint64_t timestamp;

	enum OFFBOARD_CONTROL_MODE mode;		 /**< The current control inputs mode */

	float p1;	/**< ailerons roll / roll rate input */
	float p2;	/**< elevator / pitch / pitch rate */
	float p3;	/**< rudder / yaw rate / yaw */
	float p4;	/**< throttle / collective thrust / altitude */

	float override_mode_switch;

	float aux1_cam_pan_flaps;
	float aux2_cam_tilt;
	float aux3_cam_zoom;
	float aux4_cam_roll;

}; /**< offboard control inputs */
/**
 * @}
 */

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

#endif