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

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/**
 * @file actuator_controls.h
 *
 * Actuator control topics - mixer inputs.
 *
 * Values published to these topics are the outputs of the vehicle control
 * system, and are expected to be mixed and used to drive the actuators
 * (servos, speed controls, etc.) that operate the vehicle.
 *
 * Each topic can be published by a single controller
 */

#ifndef TOPIC_ACTUATOR_CONTROLS_H
#define TOPIC_ACTUATOR_CONTROLS_H

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

#define NUM_ACTUATOR_CONTROLS		8
#define NUM_ACTUATOR_CONTROL_GROUPS	4	/**< for sanity checking */

struct actuator_controls_s {
	uint64_t timestamp;
	float	control[NUM_ACTUATOR_CONTROLS];
};

/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_0);
ORB_DECLARE(actuator_controls_1);
ORB_DECLARE(actuator_controls_2);
ORB_DECLARE(actuator_controls_3);

/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS	ORB_ID(actuator_controls_0)

/** global 'actuator output is live' control. */
struct actuator_armed_s {
	bool	armed;		/**< Set to true if system is armed */
	bool	lockdown;	/**< Set to true if actuators are forced to being disabled (due to emergency or HIL) */
};

ORB_DECLARE(actuator_armed);

#endif