input_rc.h

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/**
 * @file input_rc.h
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#pragma once

#include "input.h"
#include <uORB/topics/manual_control_setpoint.h>

namespace vmount
{

class InputMavlinkROI;
class InputMavlinkCmdMount;

/**
 ** class InputRC
 * RC input class using manual_control_setpoint topic
 */
class InputRC : public InputBase
{
public:

    /**
     * @param do_stabilization
     * @param aux_channel_roll   which aux channel to use for roll (set to 0 to use a fixed angle of 0)
     * @param aux_channel_pitch
     * @param aux_channel_yaw
     */
    InputRC(bool do_stabilization, int aux_channel_roll, int aux_channel_pitch, int aux_channel_yaw);
    virtual ~InputRC();

    virtual void print_status();

protected:
    virtual int update_impl(unsigned int timeout_ms, ControlData **control_data, bool already_active);
    virtual int initialize();

    /**
     * @return true if there was a change in control data
     */
    virtual bool _read_control_data_from_subscription(ControlData &control_data, bool already_active);

    int _get_subscription_fd() const { return _manual_control_setpoint_sub; }

    float _get_aux_value(const manual_control_setpoint_s &manual_control_setpoint, int channel_idx);

private:
    const bool _do_stabilization;
    int _aux_channels[3];
    int _manual_control_setpoint_sub = -1;

    bool _first_time = true;
    float _last_set_aux_values[3] = {};
};


} /* namespace vmount */