/home/travis/build/lis-epfl/MAVRIC_Library/manual_control/remote_default_config.hpp

/*******************************************************************************
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/*******************************************************************************
 * \file remote_default_config.hpp
 *
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 *
 * \brief Default configuration for the remote module
 *
 ******************************************************************************/


#ifndef REMOTE_DEFAULT_CONFIG_HPP_
#define REMOTE_DEFAULT_CONFIG_HPP_

#include "manual_control/remote.hpp"

static inline remote_conf_t remote_default_config()
{
    remote_conf_t conf                                  = {};

    conf.type                                           = REMOTE_TURNIGY;
    conf.mode_config                                    = {};
    conf.mode_config.safety_channel                     = CHANNEL_GEAR;
    conf.mode_config.safety_mode                        = Mav_mode::ATTITUDE;
    // conf.mode_config.safety_mode.flags               = {};
    // conf.mode_config.safety_mode.flags.MANUAL        = MANUAL_ON;
    conf.mode_config.mode_switch_channel                = CHANNEL_FLAPS;
    conf.mode_config.mode_switch_up                     = Mav_mode::VELOCITY;
    // conf.mode_config.mode_switch_up.flags            = {};
    // conf.mode_config.mode_switch_up.flags.MANUAL     = MANUAL_ON;
    // conf.mode_config.mode_switch_up.flags.STABILISE  = STABILISE_ON;
    conf.mode_config.mode_switch_middle                 = Mav_mode::POSITION_HOLD;
    // conf.mode_config.mode_switch_middle.flags        = {};
    // conf.mode_config.mode_switch_middle.flags.MANUAL = MANUAL_ON;
    // conf.mode_config.mode_switch_middle.flags.GUIDED = GUIDED_ON;
    conf.mode_config.mode_switch_down                   = Mav_mode::AUTO;
    // conf.mode_config.mode_switch_down.flags          = {};
    // conf.mode_config.mode_switch_down.flags.AUTO     = AUTO_ON;
    conf.mode_config.use_custom_switch                  = true; //false,
    conf.mode_config.custom_switch_channel              = CHANNEL_AUX1;
    conf.mode_config.use_test_switch                    = false;
    conf.mode_config.test_switch_channel                = CHANNEL_AUX2;
    conf.mode_config.use_disable_remote_mode_switch     = false;
    conf.mode_config.test_switch_channel                = CHANNEL_AUX2;

    return conf;
};


#endif // REMOTE_DEFAULT_CONFIG_HPP_