/****************************************************************************
 *
 *   Copyright (C) 2008-2012 PX4 Development Team. All rights reserved.
 *   Author: @author Nils Wenzler <wenzlern@student.ethz.ch>
 *           @author Ivan Ovinnikov <oivan@student.ethz.ch>
 *           @author Lorenz Meier <lm@inf.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * 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
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/**
 * @file rc_channels.h
 * Definition of the rc_channels uORB topic.
 */

#ifndef RC_CHANNELS_H_
#define RC_CHANNELS_H_

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

/**
 * @addtogroup topics
 * @{
 */

/**
 * The number of RC channel inputs supported.
 * Current (Q1/2013) radios support up to 18 channels,
 * leaving at a sane value of 14.
 */
#define RC_CHANNELS_MAX   14

/** 
 * This defines the mapping of the RC functions.
 * The value assigned to the specific function corresponds to the entry of
 * the channel array chan[].
 */
enum RC_CHANNELS_FUNCTION
{
  THROTTLE = 0,
  ROLL     = 1,
  PITCH    = 2,
  YAW      = 3,
  OVERRIDE = 4,
  AUTO_MODE = 5,
  MANUAL_MODE = 6,
  SAS_MODE = 7,
  RTL = 8,
  OFFBOARD_MODE = 9,
  FLAPS   = 10,
  AUX_1   = 11,
  AUX_2   = 12,
  AUX_3   = 13,
  AUX_4   = 14,
  AUX_5   = 15,
  RC_CHANNELS_FUNCTION_MAX /**< indicates the number of functions. There can be more functions than RC channels. */
};

struct rc_channels_s {

	uint64_t timestamp;                 /**< In microseconds since boot time. */
  uint64_t timestamp_last_valid;      /**< timestamp of last valid RC signal. */
  struct {
    float scaled;                     /**< Scaled to -1..1 (throttle: 0..1) */
  } chan[RC_CHANNELS_MAX];
  uint8_t chan_count;                 /**< number of valid channels */

  /*String array to store the names of the functions*/
  char function_name[RC_CHANNELS_FUNCTION_MAX][20];
  int8_t function[RC_CHANNELS_FUNCTION_MAX];
  uint8_t rssi;                       /**< Overall receive signal strength */
}; /**< radio control channels. */

/**
 * @}
 */

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

#endif
