wb_apm_interface.h

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#ifndef wb_apm_interface_h
#define wb_apm_interface_h
 
#include <gu_util.h>
 
enum apm_mode
{
    Quad = 0,
    Plane,
    NUMBER_OF_MODES
};
 
    //Doxy is warning about undocumented functions as a result of our macros and the fact that they're used in this union. This will disable doxy from parsing this section, which means no warnings but also no generated documentation for this section. The other option is to redefine the macros locally to fix the naming problem. - Carl.
 
union apm_data
{
    struct {
        PROPERTY(uint8_t, thrust)
            PROPERTY(uint8_t, pad_)
        PROPERTY(int16_t, pitch)
        PROPERTY(int16_t, roll)
        PROPERTY(int16_t, yaw)
    } quad; 
 
    struct {
        PROPERTY(uint8_t, thrust)
    } plane; 
 
    //unsigned int _padding : 14;
    //}    motor;  ///< motor object
};
 
struct wb_apm_interface
{
    PROPERTY(enum apm_mode, mode)
    PROPERTY(union apm_data, data)
 
#ifdef __cplusplus
    wb_apm_interface()
    {
        memset(this, 0, sizeof(*this));
    }
#endif
};
 
#endif //wb_apm_interface_h