/****************************************************************************
 *
 *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
 *
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 *
 ****************************************************************************/

/**
 * @file orb_topics.h
 * Common sets of topics subscribed to or published by the MAVLink driver,
 * and structures maintained by those subscriptions.
 */
#pragma once

#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/offboard_control_setpoint.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_vicon_position.h>
#include <uORB/topics/vehicle_global_position_setpoint.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_rc_input.h>

struct mavlink_subscriptions {
	int sensor_sub;
	int att_sub;
	int global_pos_sub;
	int act_0_sub;
	int act_1_sub;
	int act_2_sub;
	int act_3_sub;
	int gps_sub;
	int man_control_sp_sub;
	int armed_sub;
	int actuators_sub;
	int local_pos_sub;
	int spa_sub;
	int spl_sub;
	int spg_sub;
	int debug_key_value;
	int input_rc_sub;
	int optical_flow;
	int rates_setpoint_sub;
	int home_sub;
};

extern struct mavlink_subscriptions mavlink_subs;

/** Global position */
extern struct vehicle_global_position_s global_pos;

/** Local position */
extern struct vehicle_local_position_s local_pos;

/** Vehicle status */
extern struct vehicle_status_s v_status;

/** RC channels */
extern struct rc_channels_s rc;

/** Actuator armed state */
extern struct actuator_armed_s armed;

/** Worker thread starter */
extern pthread_t uorb_receive_start(void);
