tx_config.hpp

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#ifndef SNAV_FCI_TX_CONFIG_HPP_
#define SNAV_FCI_TX_CONFIG_HPP_

#include "api/reference_frame.hpp"

namespace snav_fci
{

class TxConfig
{
public:

  TxConfig()
  {
    tx_rate = 50;
    desired_mode = SN_POS_HOLD_MODE;
    desired_pos_est_type = SN_POS_EST_TYPE_VIO;
    strict_pos_est_type_checking = false;
    use_traj_tracking = false;
    waypoint_frame_parent = ReferenceFrame::ESTIMATION;
    num_motors = 4; // default to quadrotor
  }

  int tx_rate; 
  SnMode desired_mode; 
  SnPosEstType desired_pos_est_type; 
  bool strict_pos_est_type_checking; 
  bool use_traj_tracking; 
  ReferenceFrame waypoint_frame_parent; 
  size_t num_motors; 
};

} // namespace snav_fci

#endif // SNAV_FCI_TX_CONFIG_HPP_