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/**
 * @file vehicle_global_position.h
 * Definition of the global fused WGS84 position uORB topic.
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 */

#ifndef TECS_STATUS_T_H_
#define TECS_STATUS_T_H_

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

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

typedef enum {
	TECS_MODE_NORMAL,
	TECS_MODE_UNDERSPEED,
	TECS_MODE_TAKEOFF,
	TECS_MODE_LAND,
	TECS_MODE_LAND_THROTTLELIM
} tecs_mode;

 /**
 * Internal values of the (m)TECS fixed wing speed alnd altitude control system
 */
struct tecs_status_s {
	uint64_t timestamp;		/**< timestamp, in microseconds since system start */

	float altitudeSp;
	float altitude;
	float flightPathAngleSp;
	float flightPathAngle;
	float flightPathAngleFiltered;
	float airspeedSp;
	float airspeed;
	float airspeedFiltered;
	float airspeedDerivativeSp;
	float airspeedDerivative;

	float totalEnergyRateSp;
	float totalEnergyRate;
	float energyDistributionRateSp;
	float energyDistributionRate;

	tecs_mode mode;
};

/**
 * @}
 */

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

#endif