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 *	 Author: @author Lorenz Meier <lm@inf.ethz.ch>
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/**
 * @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
 * @{
 */

enum MANUAL_CONTROL_MODE
{
	MANUAL_CONTROL_MODE_DIRECT = 0,
	MANUAL_CONTROL_MODE_ATT_YAW_RATE = 1,
	MANUAL_CONTROL_MODE_ATT_YAW_POS = 2,
	MANUAL_CONTROL_MODE_MULTIROTOR_SIMPLE = 3 /**< roll / pitch rotated aligned to the takeoff orientation, throttle stabilized, yaw pos */
};

struct manual_control_setpoint_s {
	uint64_t timestamp;

	enum MANUAL_CONTROL_MODE mode;		 /**< The current control inputs mode */
	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 override_mode_switch;

	float aux1_cam_pan_flaps;
	float aux2_cam_tilt;
	float aux3_cam_zoom;
	float aux4_cam_roll;

}; /**< manual control inputs */

/**
 * @}
 */

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

#endif