output_mavlink.h

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

#pragma once

#include "output.h"

#include <uORB/PublicationQueued.hpp>
#include <uORB/topics/vehicle_command.h>

namespace vmount
{
/**
 ** class OutputMavlink
 *  Output via vehicle_command topic
 */
class OutputMavlink : public OutputBase
{
public:
    OutputMavlink(const OutputConfig &output_config);
    virtual ~OutputMavlink() = default;

    virtual int update(const ControlData *control_data);

    virtual void print_status();

private:

    uORB::PublicationQueued<vehicle_command_s> _vehicle_command_pub{ORB_ID(vehicle_command)};
};


} /* namespace vmount */