/****************************************************************************
 *
 *   Copyright (C) 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
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 *    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
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/**
 * @file ardrone_motors_setpoint.h
 * Definition of the ardrone_motors_setpoint uORB topic.
 */

#ifndef TOPIC_ARDRONE_MOTORS_SETPOINT_H_
#define TOPIC_ARDRONE_MOTORS_SETPOINT_H_

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

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

struct ardrone_motors_setpoint_s
{
	uint16_t counter; //incremented by the writing thread everytime new data is stored
	uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data

	uint16_t motor_front_nw; ///< Front motor in + configuration, front left motor in x configuration
	uint16_t motor_right_ne; ///< Right motor in + configuration, front right motor in x configuration
	uint16_t motor_back_se; ///< Back motor in + configuration, back right motor in x configuration
	uint16_t motor_left_sw; ///< Left motor in + configuration, back left motor in x configuration

}; /**< AR.Drone low level motors */

 /**
 * @}
 */

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

#endif