/home/travis/build/lis-epfl/MAVRIC_Library/control/unsupported/gimbal_controller.hpp

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/*******************************************************************************
 * \file gimbal_controller.hpp
 *
 * \author MAV'RIC Team
 * \author Alexandre Cherpillod
 *
 * \brief   Gimbal control management
 *
 ******************************************************************************/


#ifndef GIMBAL_CONTROLLER_HPP_
#define GIMBAL_CONTROLLER_HPP_

#include "control/pid_controller.hpp"
#include "drivers/servo.hpp"
#include "control/control_command.hpp"


typedef struct
{
    attitude_command_t          attitude_command_desired_config;    
    attitude_command_t          attitude_command_range_config[2];   
    attitude_command_t          attitude_output_config;             
} gimbal_controller_conf_t;

static inline gimbal_controller_conf_t gimbal_controller_default_config();


class Gimbal_controller
{
public:
    Gimbal_controller(Servo& servo_pitch, Servo& servo_yaw, const gimbal_controller_conf_t config = gimbal_controller_default_config());


    bool update(void);


    attitude_command_t          attitude_command_desired_;  

private:
    void gimbal_controller_mix_to_servos(void);


    enum RANGE_GIMBAL
    {
        MIN_RANGE_GIMBAL = 0,              
        MAX_RANGE_GIMBAL = 1               
    };

    attitude_command_t          attitude_command_range_[2]; 
    attitude_command_t          attitude_output_;           
    Servo&                      servo_pitch_;               
    Servo&                      servo_yaw_;                 
};


static inline gimbal_controller_conf_t gimbal_controller_default_config()
{
    gimbal_controller_conf_t conf = {};

    float min_max_angle = 45.0f;

    //init desired attitude command
    conf.attitude_command_desired_config.rpy[0] = 0.0f;
    conf.attitude_command_desired_config.rpy[1] = 0.0f;
    conf.attitude_command_desired_config.rpy[2] = 0.0f;

    //init output commands
    conf.attitude_output_config.rpy[0] = 0.0f;
    conf.attitude_output_config.rpy[1] = 0.0f;
    conf.attitude_output_config.rpy[2] = 0.0f;

    //init MIN range of allowed attitude command
    conf.attitude_command_range_config[0].rpy[0] = -min_max_angle;
    conf.attitude_command_range_config[0].rpy[1] = -min_max_angle;
    conf.attitude_command_range_config[0].rpy[2] = -min_max_angle;

    //init MAX range of allowed attitude command
    conf.attitude_command_range_config[1].rpy[0] = min_max_angle;
    conf.attitude_command_range_config[1].rpy[1] = min_max_angle;
    conf.attitude_command_range_config[1].rpy[2] = min_max_angle;

    return conf;
};

#endif /* GIMBAL_CONTROLLER_HPP_ */