/home/travis/build/lis-epfl/MAVRIC_Library/manual_control/remote.hpp

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 * 1. Redistributions of source code must retain the above copyright notice,
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/*******************************************************************************
 * \file remote.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief This file is the driver for the remote control
 *
 ******************************************************************************/


#ifndef REMOTE_HPP__
#define REMOTE_HPP__

#include "status/mav_modes.hpp"
#include "drivers/satellite.hpp"
#include "control/controller.hpp"
#include "control/control_command.hpp"


#define REMOTE_CHANNEL_COUNT 14


typedef enum
{
    SIGNAL_GOOD = 100,
    SIGNAL_BAD  = 50,
    SIGNAL_LOST = 0,
} signal_quality_t;


typedef enum
{
    NORMAL      = 1,
    INVERTED    = -1,
} channel_inv_t;


typedef enum
{
    CHANNEL_THROTTLE = 0,
    CHANNEL_ROLL     = 1,
    CHANNEL_PITCH    = 2,
    CHANNEL_YAW      = 3,
    CHANNEL_GEAR     = 4,
    CHANNEL_FLAPS    = 5,
    CHANNEL_AUX1     = 6,
    CHANNEL_AUX2     = 7,
    CHANNEL_AUX3     = 8,
    CHANNEL_AUX4     = 9,
    CHANNEL_AUX5     = 10,
    CHANNEL_AUX6     = 11,
    CHANNEL_AUX7     = 12,
    CHANNEL_AUX8     = 13
} remote_channel_t;


typedef enum
{
    REMOTE_TURNIGY  = 0,
    REMOTE_SPEKTRUM = 1,
} remote_type_t;


typedef struct
{
    remote_channel_t    safety_channel;                     
    Mav_mode            safety_mode;                        
    remote_channel_t    mode_switch_channel;                
    Mav_mode            mode_switch_up;                     
    Mav_mode            mode_switch_middle;                 
    Mav_mode            mode_switch_down;                   
    bool                use_custom_switch;                  
    remote_channel_t    custom_switch_channel;              
    bool                use_test_switch;                    
    remote_channel_t    test_switch_channel;                
    bool                use_disable_remote_mode_switch;     
    remote_channel_t    disable_remote_mode_channel;        
} remote_mode_conf_t;


typedef struct
{
    remote_channel_t    safety_channel;                     
    Mav_mode            safety_mode;                        
    remote_channel_t    mode_switch_channel;                
    Mav_mode            mode_switch_up;                     
    Mav_mode            mode_switch_middle;                 
    Mav_mode            mode_switch_down;                   
    bool                use_custom_switch;                  
    remote_channel_t    custom_switch_channel;              
    bool                use_test_switch;                    
    remote_channel_t    test_switch_channel;                
    bool                use_disable_remote_mode_switch;     
    remote_channel_t    disable_remote_mode_channel;        
    Mav_mode            current_desired_mode;               
    arm_action_t            arm_action;
} remote_mode_t;


typedef struct
{
    remote_type_t type;                                     
    remote_mode_conf_t mode_config;                         
} remote_conf_t;


typedef struct
{
    float channels[REMOTE_CHANNEL_COUNT];                   
    channel_inv_t channel_inv[REMOTE_CHANNEL_COUNT];        
    float trims[REMOTE_CHANNEL_COUNT];                      
    float scale;                                            
    int16_t deadzone;                                       
    signal_quality_t signal_quality;                        
    remote_type_t type;                                     
    remote_mode_t mode;                                     
    uint32_t last_satellite_update;                         
    Satellite* sat;                                         
} remote_t;


bool remote_init(remote_t* remote, Satellite* sat, const remote_conf_t config);



bool remote_update(remote_t* remote);


signal_quality_t remote_check(remote_t* remote);


void remote_calibrate(remote_t* remote, remote_channel_t channel);


float remote_get_channel(const remote_t* remote, remote_channel_t ch);


float remote_get_throttle(const remote_t* remote);


float remote_get_roll(const remote_t* remote);


float remote_get_pitch(const remote_t* remote);


float remote_get_yaw(const remote_t* remote);


void remote_mode_init(remote_mode_t* remote_mode, const remote_mode_conf_t config);



void remote_mode_update(remote_t* remote);


Mav_mode remote_mode_get(remote_t* remote, Mav_mode mode_current);

#endif