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 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
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/**
 * @file vehicle_attitude_setpoint.h
 * Definition of the vehicle attitude setpoint uORB topic.
 */

#ifndef TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_
#define TOPIC_VEHICLE_ATTITUDE_SETPOINT_H_

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

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

/**
 * vehicle attitude setpoint.
 */
struct vehicle_attitude_setpoint_s {
	uint64_t timestamp;		/**< in microseconds since system start, is set whenever the writing thread stores new data */

	float roll_body;				/**< body angle in NED frame		*/
	float pitch_body;				/**< body angle in NED frame		*/
	float yaw_body;					/**< body angle in NED frame		*/
	//float body_valid;				/**< Set to true if body angles are valid */

	float R_body[3][3];				/**< Rotation matrix describing the setpoint as rotation from the current body frame */
	bool R_valid;					/**< Set to true if rotation matrix is valid */

	//! For quaternion-based attitude control
	float q_d[4];				/** Desired quaternion for quaternion control */
	bool q_d_valid;					/**< Set to true if quaternion vector is valid */
	float q_e[4];				/** Attitude error in quaternion */
	bool q_e_valid;					/**< Set to true if quaternion error vector is valid */

	float thrust;					/**< Thrust in Newton the power system should generate */

	bool	roll_reset_integral;			/**< Reset roll integral part (navigation logic change) */

};

/**
 * @}
 */

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

#endif /* TOPIC_ARDRONE_CONTROL_H_ */