uint64 timestamp                 # time since system start (microseconds)

uint64 timestamp_sample          # the timestamp of the raw data (microseconds)

uint8 SWITCH_POS_NONE   = 0      # switch is not mapped
uint8 SWITCH_POS_ON     = 1      # switch activated (value = 1)
uint8 SWITCH_POS_MIDDLE = 2      # middle position (value = 0)
uint8 SWITCH_POS_OFF    = 3      # switch not activated (value = -1)

uint8 MODE_SLOT_NONE    = 0      # no mode slot assigned
uint8 MODE_SLOT_1       = 1      # mode slot 1 selected
uint8 MODE_SLOT_2       = 2      # mode slot 2 selected
uint8 MODE_SLOT_3       = 3      # mode slot 3 selected
uint8 MODE_SLOT_4       = 4      # mode slot 4 selected
uint8 MODE_SLOT_5       = 5      # mode slot 5 selected
uint8 MODE_SLOT_6       = 6      # mode slot 6 selected
uint8 MODE_SLOT_NUM     = 6      # number of slots

uint8 mode_slot                  # the slot a specific model selector is in

uint8 arm_switch                 # arm/disarm switch: _DISARMED_, ARMED
uint8 return_switch              # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 loiter_switch              # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 offboard_switch            # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
uint8 kill_switch                # throttle kill: _NORMAL_, KILL
uint8 gear_switch                # landing gear switch: _DOWN_, UP
uint8 transition_switch          # VTOL transition switch: _HOVER, FORWARD_FLIGHT

# legacy "advanced" switch configuration (will be removed soon)
uint8 mode_switch                # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 man_switch                 # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL
uint8 acro_switch                # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 rattitude_switch           # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE
uint8 stab_switch                # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED
uint8 posctl_switch              # position control 2 position switch (optional): _ALTCTL_, POSCTL

uint32 switch_changes            # number of switch changes