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/****************************************************************************
*
* Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
* Author: @author Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file manual_control_setpoint.h
* Definition of the manual_control_setpoint uORB topic.
*/
#ifndef TOPIC_MANUAL_CONTROL_SETPOINT_H_
#define TOPIC_MANUAL_CONTROL_SETPOINT_H_
#include <stdint.h>
#include "../uORB.h"
/**
* @addtogroup topics
* @{
*/
struct manual_control_setpoint_s {
uint64_t timestamp;
float roll; /**< ailerons roll / roll rate input */
float pitch; /**< elevator / pitch / pitch rate */
float yaw; /**< rudder / yaw rate / yaw */
float throttle; /**< throttle / collective thrust / altitude */
float mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */
float return_switch; /**< land 2 position switch (mandatory): land, no effect */
float assisted_switch; /**< assisted 2 position switch (optional): seatbelt, simple */
float mission_switch; /**< mission 2 position switch (optional): mission, loiter */
/**
* Any of the channels below may not be available and be set to NaN
* to indicate that it does not contain valid data.
*/
// XXX needed or parameter?
//float auto_offboard_input_switch; /**< controller setpoint source (0 = onboard, 1 = offboard) */
float flaps; /**< flap position */
float aux1; /**< default function: camera yaw / azimuth */
float aux2; /**< default function: camera pitch / tilt */
float aux3; /**< default function: camera trigger */
float aux4; /**< default function: camera roll */
float aux5; /**< default function: payload drop */
}; /**< manual control inputs */
/**
* @}
*/
/* register this as object request broker structure */
ORB_DECLARE(manual_control_setpoint);
#endif
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