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

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

#ifndef FLIGHT_CONTROLLER_HEXACOPTER_HPP_
#define FLIGHT_CONTROLLER_HEXACOPTER_HPP_

#include "flight_controller/flight_controller_copter.hpp"

class Flight_controller_hexacopter: public Flight_controller_copter<6>
{
public:
    Flight_controller_hexacopter(   const INS& ins,
                                    const AHRS& ahrs,
                                    Servo& motor_rear,
                                    Servo& motor_rear_left,
                                    Servo& motor_front_left,
                                    Servo& motor_front,
                                    Servo& motor_front_right,
                                    Servo& motor_rear_right,
                                    conf_t config):
        Flight_controller_copter<6>(ins, ahrs, Servos_mix_matrix<6>::args_t{{{&motor_rear, &motor_rear_left, &motor_front_left, &motor_front, &motor_front_right, &motor_rear_right}}}, config)
    {};

    static conf_t default_config(void)
    {
        conf_t conf = Flight_controller_copter<6>::default_config();
        float s60 = 0.866025f;
        //                                 roll, pitch,   yaw,   X,    Y,     Z
        conf.mix_config.mix  = Mat<6, 6>({ 0.0f, -1.0f,  1.0f, 0.0f, 0.0f, -1.0f,   // rear
                                            s60, -0.5f, -1.0f, 0.0f, 0.0f, -1.0f,   // rear left
                                            s60,  0.5f,  1.0f, 0.0f, 0.0f, -1.0f,   // front left
                                           0.0f,  1.0f, -1.0f, 0.0f, 0.0f, -1.0f,   // front
                                           -s60,  0.5f,  1.0f, 0.0f, 0.0f, -1.0f,   // front right
                                           -s60, -0.5f, -1.0f, 0.0f, 0.0f, -1.0f}); // rear right

        return conf;
    };
};

#endif  // FLIGHT_CONTROLLER_HEXACOPTER_HPP_