/home/travis/build/lis-epfl/MAVRIC_Library/util/constants.hpp

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/*******************************************************************************
 * \file constants.h
 *
 * \author MAV'RIC Team
 *
 * \brief Useful constants
 *
 ******************************************************************************/


#ifndef MATH_UTIL_HPP_
#define MATH_UTIL_HPP_

#include "util/coord_conventions.hpp"

#define GRAVITY 9.81f           ///< The gravity constant


typedef enum
{
    X = 0,
    Y = 1,
    Z = 2,
} constants_orientation_t;


typedef enum
{
    ROLL    = 0,
    PITCH   = 1,
    YAW     = 2,
} constants_roll_pitch_yaw_t;


typedef enum
{
    UPVECTOR_X = 0,
    UPVECTOR_Y = 0,
    UPVECTOR_Z = -1,
} constants_upvector_t;


typedef enum
{
    OFF = 0,
    ON  = 1,
} constants_on_off_t;


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


typedef enum
{
    FLAP_NORMAL     = 1,    
    FLAP_INVERTED   = -1    
} flap_dir_t;


const global_position_t ORIGIN_EPFL = {6.566044801857777f, 46.51852236174565f, 400.0f};


#endif /* MATH_UTIL_HPP_ */