/home/travis/build/lis-epfl/MAVRIC_Library/drones/lequad.hpp

/*******************************************************************************
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/*******************************************************************************
 * \file lequad.hpp
 *
 * \author MAV'RIC Team
 *
 * \brief MAV class
 *
 ******************************************************************************/


#ifndef LEQUAD_HPP_
#define LEQUAD_HPP_

#include "drones/mav.hpp"
#include "flight_controller/flight_controller_quadcopter.hpp"

class LEQuad: public MAV
{
public:

    struct conf_t
    {
        MAV::conf_t mav_config;
        Flight_controller_quadcopter::conf_t flight_controller_config;
    };

    static inline conf_t default_config(uint8_t sysid = 1);


    static inline conf_t dronedome_config(uint8_t sysid = 1);


    LEQuad( Imu& imu,
            Barometer& barometer,
            Gps& gps,
            Sonar& sonar,
            PX4Flow& flow,
            Serial& serial_mavlink,
            Satellite& satellite,
            State_display& state_display,
            File& file_flash,
            Battery& battery,
            File& file1,
            File& file2,
            Servo& servo_0,
            Servo& servo_1,
            Servo& servo_2,
            Servo& servo_3,
            const conf_t& config = default_config());

    bool init_controller(void);

protected:
    Flight_controller_quadcopter    flight_controller_quadcopter_;
};


LEQuad::conf_t LEQuad::default_config(uint8_t sysid)
{
    conf_t conf                                                = {};

    conf.mav_config = MAV::default_config();
    conf.flight_controller_config = Flight_controller_quadcopter::default_config();

    return conf;
};


LEQuad::conf_t LEQuad::dronedome_config(uint8_t sysid)
{
    conf_t conf                                                = {};

    conf.mav_config = MAV::dronedome_config(sysid);
    conf.flight_controller_config = Flight_controller_quadcopter::default_config();

    return conf;
}

#endif /* LEQUAD_HPP_ */