px4-firmware/apps/uORB/topics/vehicle_command.h

/****************************************************************************
 *
 *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
 *   Author: @author Thomas Gubler <thomasgubler@student.ethz.ch>
 *           @author Julian Oes <joes@student.ethz.ch>
 *           @author Lorenz Meier <lm@inf.ethz.ch>
 *
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 * modification, are permitted provided that the following conditions
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/**
 * @file vehicle_command.h
 * Definition of the vehicle command uORB topic.
 */

#ifndef TOPIC_VEHICLE_COMMAND_H_
#define TOPIC_VEHICLE_COMMAND_H_

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

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

enum PX4_CMD {
	PX4_CMD_CONTROLLER_SELECTION = 1000,
};

struct vehicle_command_s
{
	float param1;			/**< Parameter 1, as defined by MAVLink MAV_CMD enum.   */
	float param2;			/**< Parameter 2, as defined by MAVLink MAV_CMD enum.   */
	float param3;			/**< Parameter 3, as defined by MAVLink MAV_CMD enum.   */
	float param4;			/**< Parameter 4, as defined by MAVLink MAV_CMD enum.   */
	float param5;			/**< Parameter 5, as defined by MAVLink MAV_CMD enum.   */
	float param6;			/**< Parameter 6, as defined by MAVLink MAV_CMD enum.   */
	float param7;			/**< Parameter 7, as defined by MAVLink MAV_CMD enum.   */
	uint16_t command;		/**< Command ID, as defined MAVLink by MAV_CMD enum.   */
	uint8_t target_system;		/**< System which should execute the command  */
	uint8_t target_component;	/**< Component which should execute the command, 0 for all components  */
	uint8_t source_system;		/**< System sending the command  */
	uint8_t source_component;	/**< Component sending the command  */
	uint8_t confirmation;		/**< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) */
}; /**< command sent to vehicle */

/**
 * @}
 */

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



#endif