/home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller_copter.hpp

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/*******************************************************************************
 * \file flight_controller_copter.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Full flight controller for copter
 *
 ******************************************************************************/

#ifndef FLIGHT_CONTROLLER_COPTER_HPP_
#define FLIGHT_CONTROLLER_COPTER_HPP_

#include "flight_controller/flight_controller_stack.hpp"
#include "control/position_controller.hpp"
#include "control/velocity_controller_copter.hpp"
#include "control/attitude_controller.hpp"
#include "control/rate_controller.hpp"
#include "control/servos_mix_matrix.hpp"

template<uint32_t N_ROTORS>
class Flight_controller_copter: public Flight_controller_stack
{
public:
    struct conf_t
    {
        Position_controller::conf_t         pos_config;
        Velocity_controller_copter::conf_t  vel_config;
        Attitude_controller::conf_t         att_config;
        Rate_controller::conf_t             rate_config;
        typename Servos_mix_matrix<N_ROTORS>::conf_t mix_config;
    };

    static conf_t default_config(void)
    {
        conf_t conf;

        conf.pos_config  = Position_controller::default_config();
        conf.vel_config  = Velocity_controller_copter::default_config();
        conf.att_config  = Attitude_controller::default_config();
        conf.rate_config = Rate_controller::default_config();
        conf.mix_config  = Servos_mix_matrix<N_ROTORS>::default_config();

        return conf;
    };

    Flight_controller_copter(const INS& ins, const AHRS& ahrs, typename Servos_mix_matrix<N_ROTORS>::args_t mix_args, conf_t config);

    bool set_manual_rate_command(const Manual_control& manual_control);

    bool set_manual_attitude_command(const Manual_control& manual_control);

    bool set_manual_velocity_command(const Manual_control& manual_control);

public:
    Position_controller         pos_ctrl_;      
    Velocity_controller_copter  vel_ctrl_;      
    Attitude_controller         att_ctrl_;      
    Rate_controller             rate_ctrl_;     
    Servos_mix_matrix<N_ROTORS> mix_ctrl_;      

private:
    const AHRS& ahrs_;                          
};

#include "flight_controller/flight_controller_copter.hxx"

#endif  // FLIGHT_CONTROLLER_COPTER_HPP_