stabilisation_hybrid.h

/*******************************************************************************
 * Copyright (c) 2009-2014, MAV'RIC Development Team
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/*******************************************************************************
 * \file stabilisation_hybrid.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 * \author Julien Lecoeur
 *   
 * \brief This file handles the stabilization of hybrid platforms
 *
 ******************************************************************************/


#ifndef STABILISATION_HYBRID_H_
#define STABILISATION_HYBRID_H_

#include "stabilisation.h"

typedef struct {
    stabiliser_t rate_stabiliser;
    stabiliser_t attitude_stabiliser;
} Stabiliser_Stack_hybrid_t;

void stabilisation_hybrid_init(Stabiliser_Stack_hybrid_t* stabiliser_stack);

void stabilisation_hybrid_cascade_stabilise_hybrid(imu_t *imu, position_estimation_t *pos_est, control_command_t *control_input);
void stabilisation_hybrid_mix_to_servos_xwing(control_command_t *control);

#endif /* STABILISATION_HYBRID_H_ */