central_data.h

/*
 * central_data.h
 *
 * Created: 16/09/2013 12:18:00
 *  Author: sfx
 */ 


#ifndef CENTRAL_DATA_H_
#define CENTRAL_DATA_H_

#include <stdbool.h>
#include <stdint.h>

#include "stdbool.h"

#include "time_keeper.h"
//#include "i2c_driver_int.h"
#include "qfilter.h"
#include "imu.h"

// #include "stabilisation.h"
#include "stabilisation_copter.h"
// #include "stabilisation_hybrid.h"

#include "pid_controller.h"
#include "streams.h"
//#include "uart_int.h"
#include "print_util.h"

#include "bmp085.h"
#include "mavlink_stream.h"
#include "coord_conventions.h"
#include "onboard_parameters.h"
#include "servo_pwm.h"

#include "gps_ublox.h"
#include "mavlink_waypoint_handler.h"
#include "simulation.h"
#include "bmp085.h"
#include "conf_sim_model.h"
#include "position_estimation.h"

static const servo_output_t servo_failsafe[NUMBER_OF_SERVO_OUTPUTS]={{.value=-600}, {.value=-600}, {.value=-600}, {.value=-600}, {.value=-600}, {.value=-600}, {.value=-600}, {.value=-600}};

enum CRITICAL_BEHAVIOR_ENUM{
    CLIMB_TO_SAFE_ALT = 1,
    FLY_TO_HOME_WP = 2,
    CRITICAL_LAND = 3,
};

typedef struct  {
    imu_t imu;
    control_command_t controls;
    control_command_t controls_nav;

    stabiliser_stack_copter_t stabiliser_stack;

    simulation_model_t uav_model;
    servo_output_t servos[NUMBER_OF_SERVO_OUTPUTS];
    buffer_t xbee_in_buffer, wired_in_buffer;
    byte_stream_t xbee_out_stream;
    byte_stream_t xbee_in_stream;
    byte_stream_t wired_out_stream, wired_in_stream;
    
    buffer_t gps_buffer;
    byte_stream_t gps_stream_in;
    byte_stream_t gps_stream_out;
    gps_t gps;
    
    simulation_model_t sim_model;
    
    position_estimation_t position_estimation;
    
    // aliases
    byte_stream_t *telemetry_down_stream, *telemetry_up_stream;
    byte_stream_t *debug_out_stream, *debug_in_stream;
    
    waypoint_struct_t waypoint_list[MAX_WAYPOINTS];
    waypoint_struct_t current_waypoint;
    uint16_t number_of_waypoints;
    int8_t current_wp_count;
    
    local_coordinates_t waypoint_coordinates, waypoint_hold_coordinates, waypoint_critical_coordinates;
    float dist2wp_sqr;
    
    bool waypoint_set;
    bool waypoint_sending;
    bool waypoint_receiving;
    bool waypoint_handler_waypoint_hold_init;
    bool critical_landing;
    bool critical_next_state;
    
    bool collision_avoidance;
    bool automatic_take_off;
    
    uint8_t mav_mode;
    uint8_t mav_state;
    
    uint8_t mav_mode_previous;
    uint8_t mav_state_previous;
    
    uint32_t simulation_mode;
    
    barometer_t pressure;
    //float pressure_filtered;
    //float altitude_filtered;
    
    
    enum CRITICAL_BEHAVIOR_ENUM critical_behavior;
    
} central_data_t;


void central_data_init(void);

central_data_t* central_data_get_pointer_to_struct(void);

byte_stream_t* get_telemetry_upstream(void);
byte_stream_t* get_telemetry_downstream(void);

imu_t* get_imu_data();
control_command_t* get_control_inputs_data();

#define STDOUT &print_util_get_debug_stream()

#endif /* CENTRAL_DATA_H_ */