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/**
 * @file actuator_controls_effective.h
 *
 * Actuator control topics - mixer inputs.
 *
 * Values published to these topics are the outputs of the vehicle control
 * system and mixing process; they are the control-scale values that are
 * then fed to the actual actuator driver.
 *
 * Each topic can be published by a single controller
 */

#ifndef TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H
#define TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H

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

#define NUM_ACTUATOR_CONTROLS_EFFECTIVE		NUM_ACTUATOR_CONTROLS
#define NUM_ACTUATOR_CONTROL_GROUPS_EFFECTIVE	NUM_ACTUATOR_CONTROL_GROUPS	/**< for sanity checking */

struct actuator_controls_effective_s {
	uint64_t timestamp;
	float	control_effective[NUM_ACTUATOR_CONTROLS_EFFECTIVE];
};

/* actuator control sets; this list can be expanded as more controllers emerge */
ORB_DECLARE(actuator_controls_effective_0);
ORB_DECLARE(actuator_controls_effective_1);
ORB_DECLARE(actuator_controls_effective_2);
ORB_DECLARE(actuator_controls_effective_3);

/* control sets with pre-defined applications */
#define ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE	ORB_ID(actuator_controls_effective_0)

#endif /* TOPIC_ACTUATOR_CONTROLS_EFFECTIVE_H */