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/**
 * @file subscriber_example.h
 * Example subscriber for ros and px4
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 */
#include <px4.h>

using namespace px4;

void rc_channels_callback_function(const px4_rc_channels &msg);

class SubscriberExample
{
public:
	SubscriberExample();

	~SubscriberExample() {}

	void spin() {_n.spin();}

protected:
	px4::NodeHandle _n;
	px4::ParameterInt _p_sub_interv;
	px4::ParameterFloat _p_test_float;
	px4::Subscriber<px4_rc_channels> *_sub_rc_chan;

	AppState _appState;

	void rc_channels_callback(const px4_rc_channels &msg);
	void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
	void parameter_update_callback(const px4_parameter_update &msg);

};
