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

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

 #ifndef FLIGHT_CONTROLLER_COPTER_HXX_
 #define FLIGHT_CONTROLLER_COPTER_HXX_

template<uint32_t N_ROTORS>
Flight_controller_copter<N_ROTORS>::Flight_controller_copter(const INS& ins, const AHRS& ahrs, typename Servos_mix_matrix<N_ROTORS>::args_t mix_args, conf_t config):
    Flight_controller_stack(pos_ctrl_, vel_ctrl_, att_ctrl_, rate_ctrl_, mix_ctrl_),
    pos_ctrl_({ahrs, ins}, config.pos_config),
    vel_ctrl_({{ahrs, ins, command_.velocity, command_.attitude, command_.thrust}}, config.vel_config),
    att_ctrl_({ahrs, command_.attitude, command_.rate}, config.att_config),
    rate_ctrl_({ahrs, command_.rate, command_.torque}, config.rate_config),
    mix_ctrl_(mix_args, config.mix_config),
    ahrs_(ahrs)
{};


template<uint32_t N_ROTORS>
bool Flight_controller_copter<N_ROTORS>::set_manual_rate_command(const Manual_control& manual_control)
{
    bool ret = true;
    rate_command_t rate_command;
    thrust_command_t thrust_command;
    manual_control.get_rate_command(rate_command);
    manual_control.get_thrust_command_copter(thrust_command);
    ret &= set_command(rate_command);
    ret &= set_command(thrust_command);
    return ret;
};


template<uint32_t N_ROTORS>
bool Flight_controller_copter<N_ROTORS>::set_manual_attitude_command(const Manual_control& manual_control)
{
    bool ret = true;
    attitude_command_t att_command;
    thrust_command_t thrust_command;
    manual_control.get_attitude_command(att_command, ahrs_.attitude());
    manual_control.get_thrust_command_copter(thrust_command);
    ret &= set_command(att_command);
    ret &= set_command(thrust_command);
    return ret;
};


template<uint32_t N_ROTORS>
bool Flight_controller_copter<N_ROTORS>::set_manual_velocity_command(const Manual_control& manual_control)
{
    bool ret = true;
    velocity_command_t new_vel_command;
    manual_control.get_velocity_command_copter(new_vel_command, ahrs_.attitude(), command_.velocity);
    ret &= set_command(new_vel_command);
    return ret;
};

#endif  // FLIGHT_CONTROLLER_COPTER_HXX_