text: /****************************************************************************
   *
   *   Copyright (C) 2012-2013 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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   ****************************************************************************/
  
  /**
   * @file multirotor_motor_limits.h
   *
   * Definition of multirotor_motor_limits  topic
   */
  
  #ifndef MULTIROTOR_MOTOR_LIMITS_H_
  #define MULTIROTOR_MOTOR_LIMITS_H_
  
  #include "../uORB.h"
  #include <stdint.h>
  
  /**
   * @addtogroup topics
   * @{
   */
  
  /**
   * Motor limits
   */
  struct multirotor_motor_limits_s {
          uint8_t roll_pitch	: 1; // roll/pitch limit reached
          uint8_t yaw		: 1; // yaw limit reached
          uint8_t throttle_lower	: 1; // lower throttle limit reached
          uint8_t throttle_upper	: 1; // upper throttle limit reached
          uint8_t reserved	: 4;
  };
  
  /**
   * @}
   */
  
  /* register this as object request broker structure */
  ORB_DECLARE(multirotor_motor_limits);
  
  #endif
  