rc_command.hpp

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#ifndef SNAV_FCI_RC_COMMAND_HPP_
#define SNAV_FCI_RC_COMMAND_HPP_

#include <array>

#include "snav/snapdragon_navigator.h"

#include "api/tx_commands/tx_command.hpp"

namespace snav_fci
{

class RcCommand : public TxCommand
{
public:

  RcCommand()
  {
    mode_ = Mode::RC;
    type = SN_RC_POS_HOLD_CMD;
    options = RC_OPT_LINEAR_MAPPING;
    commands.fill(0);
    commands[2] = -1; // safer to set to -1 for modes that control thrust,
                      // since -1 corresponds to min thrust in those modes
  }

  static const size_t kNumRcCommands = 4; 
  SnRcCommandType type; 
  SnRcCommandOptions options; 
  std::array<float, kNumRcCommands> commands; 
};

} // namespace snav_fci

#endif // SNAV_FCI_RC_COMMAND_HPP_