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/**
 * @file mission_item_triplet.h
 * Definition of the global WGS84 position setpoint uORB topic.
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 * @author Lorenz Meier <lm@inf.ethz.ch>
 */

#ifndef TOPIC_MISSION_ITEM_TRIPLET_H_
#define TOPIC_MISSION_ITEM_TRIPLET_H_

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

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

enum SETPOINT_TYPE
{
	SETPOINT_TYPE_POSITION = 0,	/**< position setpoint */
	SETPOINT_TYPE_VELOCITY,		/**< velocity setpoint */
	SETPOINT_TYPE_LOITER,		/**< loiter setpoint */
	SETPOINT_TYPE_TAKEOFF,		/**< takeoff setpoint */
	SETPOINT_TYPE_LAND,		/**< land setpoint, altitude must be ignored, descend until landing */
	SETPOINT_TYPE_IDLE,		/**< do nothing, switch off motors or keep at idle speed (MC) */
	SETPOINT_TYPE_OFFBOARD, 	/**< setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard */
};

struct position_setpoint_s
{
	bool valid;			/**< true if setpoint is valid */
	enum SETPOINT_TYPE type;	/**< setpoint type to adjust behavior of position controller */
	float x;			/**< local position setpoint in m in NED */
	float y;			/**< local position setpoint in m in NED */
	float z;			/**< local position setpoint in m in NED */
	bool position_valid;	/**< true if local position setpoint valid */
	float vx;			/**< local velocity setpoint in m/s in NED */
	float vy;			/**< local velocity setpoint in m/s in NED */
	float vz;			/**< local velocity setpoint in m/s in NED */
	bool velocity_valid;		/**< true if local velocity setpoint valid */
	double lat;			/**< latitude, in deg */
	double lon;			/**< longitude, in deg */
	float alt;			/**< altitude AMSL, in m */
	float yaw;			/**< yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw */
	bool yaw_valid;			/**< true if yaw setpoint valid */
	float yawspeed;			/**< yawspeed (only for multirotors, in rad/s) */
	bool yawspeed_valid;		/**< true if yawspeed setpoint valid */
	float loiter_radius;		/**< loiter radius (only for fixed wing), in m */
	int8_t loiter_direction;	/**< loiter direction: 1 = CW, -1 = CCW */
	float pitch_min;		/**< minimal pitch angle for fixed wing takeoff waypoints */
	float a_x;			//**< acceleration x setpoint */
	float a_y;			//**< acceleration y setpoint */
	float a_z;			//**< acceleration z setpoint */
	bool acceleration_valid;	//*< true if acceleration setpoint is valid/should be used */
	bool acceleration_is_force;	//*< interprete acceleration as force */
};

/**
 * Global position setpoint triplet in WGS84 coordinates.
 *
 * This are the three next waypoints (or just the next two or one).
 */
struct position_setpoint_triplet_s
{
	struct position_setpoint_s previous;
	struct position_setpoint_s current;
	struct position_setpoint_s next;

	unsigned nav_state;				/**< report the navigation state */
};

/**
 * @}
 */

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

#endif