servos_mix_quadcopter_diag.h

/*******************************************************************************
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/*******************************************************************************
 * \file servos_mix_quadcopter_diag.h
 * 
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *   
 * \brief Links between torque commands and servos PWM command for quadcopters 
 * in diagonal configuration
 *
 ******************************************************************************/


#ifndef SERVOS_MIX_QUADCOPTER_DIAG_H_
#define SERVOS_MIX_QUADCOPTER_DIAG_H_

#ifdef __cplusplus
    extern "C" {
#endif


#include "control_command.h"
#include "servos.h"


typedef enum
{
    CW  = 1,                    
    CCW = -1                    
} rot_dir_t;


typedef struct
{
    uint8_t     motor_front_right;          
    uint8_t     motor_front_left;           
    uint8_t     motor_rear_right;           
    uint8_t     motor_rear_left;            
    rot_dir_t   motor_front_right_dir;      
    rot_dir_t   motor_front_left_dir;       
    rot_dir_t   motor_rear_right_dir;       
    rot_dir_t   motor_rear_left_dir;        
    float       min_thrust;                 
    float       max_thrust;                 
} servo_mix_quadcopter_diag_conf_t;


typedef struct 
{   
    uint8_t     motor_front_right;              
    uint8_t     motor_front_left;               
    uint8_t     motor_rear_right;               
    uint8_t     motor_rear_left;                
    rot_dir_t   motor_front_right_dir;          
    rot_dir_t   motor_front_left_dir;           
    rot_dir_t   motor_rear_right_dir;           
    rot_dir_t   motor_rear_left_dir;            
    float       min_thrust;                     
    float       max_thrust;                     
    const torque_command_t* torque_command;     
    const thrust_command_t* thrust_command;     
    servos_t*               servos;             
} servo_mix_quadcotper_diag_t;


bool servo_mix_quadcotper_diag_init(servo_mix_quadcotper_diag_t* mix, 
                                    const servo_mix_quadcopter_diag_conf_t* config, 
                                    const torque_command_t* torque_command, 
                                    const thrust_command_t* thrust_command, 
                                    servos_t* servos);


void servos_mix_quadcopter_diag_update(servo_mix_quadcotper_diag_t* mix);


#ifdef __cplusplus
    }
#endif

#endif