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

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/*******************************************************************************
 * \file flight_controller_hexhog.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Flight controller for the hexhog
 *
 ******************************************************************************/

#ifndef FLIGHT_CONTROLLER_HEXHOG_HPP_
#define FLIGHT_CONTROLLER_HEXHOG_HPP_

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

class Flight_controller_hexhog: public Flight_controller_stack
{
public:
    struct conf_t
    {
        Position_controller::conf_t            pos_config;
        Velocity_controller_holonomic::conf_t  vel_config;
        Attitude_controller::conf_t            att_config;
        Rate_controller::conf_t                rate_config;
        Servos_mix_matrix<6>::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_holonomic::default_config();
        conf.att_config  = Attitude_controller::default_config();
        conf.rate_config = Rate_controller::default_config();

        float s60 = 0.866025f;
        conf.mix_config  = Servos_mix_matrix<6>::default_config();
        conf.mix_config.mix  = Mat<6, 6>({ 0.0f, -1.0f,  1.0f, -1.0f, 0.0f, -1.0f,   // rear
                                            s60, -0.5f, -1.0f,  0.5f,  s60, -1.0f,   // rear left
                                            s60,  0.5f,  1.0f,  0.5f, -s60, -1.0f,   // front left
                                           0.0f,  1.0f, -1.0f, -1.0f, 0.0f, -1.0f,   // front
                                           -s60,  0.5f,  1.0f,  0.5f,  s60, -1.0f,   // front right
                                           -s60, -0.5f, -1.0f,  0.5f, -s60, -1.0f}); // rear right
        return conf;
    };

    Flight_controller_hexhog(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 = default_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_holonomic   vel_ctrl_;  
    Attitude_controller             att_ctrl_;  
    Rate_controller                 rate_ctrl_; 
    Servos_mix_matrix<6>            mix_ctrl_;  

private:
    const AHRS& ahrs_;                          
};

#endif  // FLIGHT_CONTROLLER_HEXHOG_HPP_