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

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/*******************************************************************************
 * \file servos_mix_wing.hpp
 *
 * \author MAV'RIC Team
 * \author Simon Pyroth
 * \author Basil Huber
 *
 * \brief Links between regulation output and PWM commands for a wing aircraft
 *
 ******************************************************************************/


#ifndef SERVOS_MIX_WING_HPP_
#define SERVOS_MIX_WING_HPP_

#include "drivers/servo.hpp"

#include "control/servos_mix.hpp"

class Servos_mix_wing : public Servos_mix
{
public:
    struct conf_t
    {
        uint8_t             servo_right;        
        uint8_t             servo_left;         
        uint8_t             motor;              

        flap_dir_t          servo_right_dir;    
        flap_dir_t          servo_left_dir;     

        float               min_amplitude;      
        float               max_amplitude;      

        float               trim_roll;          
        float               trim_pitch;         

        float               min_thrust;        
        float               max_thrust;        
    };

    struct args_t
    {
        Servo& servo_left;
        Servo& servo_right;
        Servo& motor;
    };

    Servos_mix_wing(args_t& args, const conf_t& config = default_config());

    virtual bool update();

    static inline conf_t default_config();

private:
    torque_command_t torque_command_;
    thrust_command_t thrust_command_;

    conf_t   config_;                        
    Servo& servo_left_;                      
    Servo& servo_right_;                     
    Servo& motor_;                           
};

Servos_mix_wing::conf_t Servos_mix_wing::default_config()
{
    conf_t conf;

    conf.servo_right = 2;
    conf.servo_left = 1;
    conf.motor = 0;

    conf.servo_right_dir = FLAP_INVERTED;
    conf.servo_left_dir = FLAP_NORMAL;

    conf.min_amplitude = -1.0f;
    conf.max_amplitude = 1.0f;

    conf.trim_roll = 0.252273f;
    conf.trim_pitch = 0.0090908f;

    conf.min_thrust = -0.9f;
    conf.max_thrust = 1.0f;

    return conf;
};

#endif