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/**
 * @file rc_parameter_map.h
 * Maps RC channels to parameters
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */

#ifndef TOPIC_RC_PARAMETER_MAP_H
#define TOPIC_RC_PARAMETER_MAP_H

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

#define RC_PARAM_MAP_NCHAN 3 // This limit is also hardcoded in the enum RC_CHANNELS_FUNCTION in rc_channels.h
#define PARAM_ID_LEN 16 // corresponds to MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN

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

struct rc_parameter_map_s {
	uint64_t timestamp;			/**< time at which the map was updated */

	bool valid[RC_PARAM_MAP_NCHAN];		/**< true for RC-Param channels which are mapped to a param */

	int param_index[RC_PARAM_MAP_NCHAN];	/**< corresponding param index, this
						  this field is ignored if set to -1, in this case param_id will
						  be used*/
	char param_id[RC_PARAM_MAP_NCHAN][PARAM_ID_LEN + 1];	/**< corresponding param id, null terminated */
	float scale[RC_PARAM_MAP_NCHAN];	/** scale to map the RC input [-1, 1] to a parameter value */
	float value0[RC_PARAM_MAP_NCHAN];	/** inital value around which the parameter value is changed */
	float value_min[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
	float value_max[RC_PARAM_MAP_NCHAN];	/** minimal parameter value */
};

/**
 * @}
 */

ORB_DECLARE(rc_parameter_map);

#endif