/home/travis/build/lis-epfl/MAVRIC_Library/mission/mission_handler_landing.hpp

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/*******************************************************************************
 * \file mission_handler_landing.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 * \author Julien Lecoeur
 *
 * \brief The mission handler for the landing state
 *
 ******************************************************************************/


#ifndef MISSION_HANDLER_LANDING_HPP_
#define MISSION_HANDLER_LANDING_HPP_

#include "status/state.hpp"
#include "mission/mission_handler.hpp"

/*
 * \brief The mission handler for the landing state
 */
class Mission_handler_landing : public Mission_handler
{
public:
    typedef enum
    {
        DESCENT_TO_SMALL_ALTITUDE,                          
        DESCENT_TO_GND                                      
    } auto_landing_behavior_t;

    struct conf_t
    {
        float LPF_gain;                                     
        float desc_to_ground_altitude;                      
        float desc_to_ground_range;                         
    };


     Mission_handler_landing(   const INS& ins,
                                State& state,
                                conf_t config = default_config());


    virtual bool can_handle(const Waypoint& wpt) const;


    virtual bool setup(const Waypoint& wpt);


    virtual Mission_handler::update_status_t update();


    virtual bool write_flight_command(Flight_controller& flight_controller) const;


    virtual Mission_planner::internal_state_t handler_mission_state() const;


    static inline conf_t default_config();

protected:
    Waypoint waypoint_;                                         
    bool is_landed_;                                            
    auto_landing_behavior_t auto_landing_behavior_;             
    float alt_lpf_;                                             
    float LPF_gain_;                                            
    float desc_to_ground_altitude_;                             
    float desc_to_ground_range_;                                

    const INS& ins_;                                            
    State& state_;                                              

    virtual bool write_desc_to_small_alt_flight_command(Flight_controller& flight_controller) const;

    virtual bool write_desc_to_ground_flight_command(Flight_controller& flight_controller) const;
};


Mission_handler_landing::conf_t Mission_handler_landing::default_config()
{
    conf_t conf                                      = {};

    conf.LPF_gain                                    = 0.9f;
    conf.desc_to_ground_altitude                     = -5.0f;
    conf.desc_to_ground_range                        = 0.5f;

    return conf;
};

#endif // MISSION_HANDLER_LANDING_HPP_