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

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

#ifndef FLIGHT_CONTROLLER_QUADCOPTER_HPP_
#define FLIGHT_CONTROLLER_QUADCOPTER_HPP_

#include "flight_controller/flight_controller_copter.hpp"

class Flight_controller_quadcopter: public Flight_controller_copter<4>
{
public:
    Flight_controller_quadcopter(const INS& ins, const AHRS& ahrs, Servo& motor_rl, Servo& motor_fl, Servo& motor_fr, Servo& motor_rr, conf_t config):
        Flight_controller_copter<4>(ins, ahrs, Servos_mix_matrix<4>::args_t{{{&motor_rl, &motor_fl, &motor_fr, &motor_rr}}}, config)
    {};

    static conf_t default_config(void)
    {
        return default_config_diag();
    };

    static conf_t default_config_diag(void)
    {
        conf_t conf = Flight_controller_copter<4>::default_config();
        //                                 roll, pitch,   yaw,   X,    Y,     Z
        conf.mix_config.mix  = Mat<4, 6>({ 1.0f, -1.0f,  1.0f, 0.0f, 0.0f, -1.0f,   // rear left
                                           1.0f,  1.0f, -1.0f, 0.0f, 0.0f, -1.0f,   // front left
                                          -1.0f,  1.0f,  1.0f, 0.0f, 0.0f, -1.0f,   // front right
                                          -1.0f, -1.0f, -1.0f, 0.0f, 0.0f, -1.0f}); // rear right

        return conf;
    };

    static conf_t default_config_cross(void)
    {
        conf_t conf = Flight_controller_copter<4>::default_config();
        //                                 roll, pitch,   yaw,   X,    Y,     Z
        conf.mix_config.mix  = Mat<4, 6>({ 0.0f, -1.0f, -1.0f, 0.0f, 0.0f, -1.0f,    // rear
                                           1.0f,  0.0f,  1.0f, 0.0f, 0.0f, -1.0f,    // left
                                           0.0f,  1.0f, -1.0f, 0.0f, 0.0f, -1.0f,    // front
                                          -1.0f,  0.0f,  1.0f, 0.0f, 0.0f, -1.0f }); // right

        return conf;
    };
};

#endif  // FLIGHT_CONTROLLER_QUADCOPTER_HPP_