stabilisation_copter.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file stabilisation_copter.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Nicolas Dousse
 *   
 * \brief This file handles the stabilization of the platform
 *
 ******************************************************************************/


#ifndef STABILISATION_COPTER_H_
#define STABILISATION_COPTER_H_

#ifdef __cplusplus
extern "C" {
#endif

#include "stabilisation.h"
#include "imu.h"
#include "position_estimation.h"
#include "servos.h"
#include "mavlink_waypoint_handler.h"

typedef enum
{
    QUADCOPTER_MOTOR_LAYOUT_DIAG    = 0,
    QUADCOPTER_MOTOR_LAYOUT_CROSS   = 1,
} quadcopter_motor_layout_t;


typedef struct 
{
    stabiliser_t rate_stabiliser;                               
    stabiliser_t attitude_stabiliser;                           
    stabiliser_t velocity_stabiliser;                           
    stabiliser_t position_stabiliser;                           
    float yaw_coordination_velocity;                            
} stabiliser_stack_copter_t;

typedef struct
{
    float thrust_hover_point;                                   
    quadcopter_motor_layout_t motor_layout;                     
    stabiliser_stack_copter_t stabiliser_stack;                 
    control_command_t* controls;                                
    const imu_t* imu;                                           
    const ahrs_t* ahrs;                                         
    const position_estimation_t* pos_est;                       
    servos_t* servos;                                           
} stabilisation_copter_t;

typedef struct  
{
    float thrust_hover_point;                                   
    quadcopter_motor_layout_t motor_layout;                     
    stabiliser_stack_copter_t stabiliser_stack;                 
} stabilisation_copter_conf_t;

bool stabilisation_copter_init(stabilisation_copter_t* stabilisation_copter, stabilisation_copter_conf_t* stabiliser_conf, control_command_t* controls, const imu_t* imu, const ahrs_t* ahrs, const position_estimation_t* pos_est,servos_t* servos);

void stabilisation_copter_position_hold(stabilisation_copter_t* stabilisation_copter, const control_command_t* input, const mavlink_waypoint_handler_t* waypoint_handler, const position_estimation_t* position_estimation);

void stabilisation_copter_cascade_stabilise(stabilisation_copter_t* stabilisation_copter);

void stabilisation_copter_mix_to_servos_diag_quad(control_command_t *control, servos_t* servos);

void stabilisation_copter_mix_to_servos_cross_quad(control_command_t *control, servos_t* servos);

#ifdef __cplusplus
}
#endif

#endif /* STABILISATION_COPTER_H_ */