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

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/*******************************************************************************
 * \file servos_mix_ywing.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 * \author Basil Huber
 *
 * \brief Links between torque commands and servos PWM command for Ywing
 *
 ******************************************************************************/


#ifndef TORQUE_CONTROLLER_YWING_HPP_
#define TORQUE_CONTROLLER_YWING_HPP_

#include "control/servos_mix.hpp"

class Servos_mix_ywing: public Servos_mix
{
public:

    struct conf_t
    {
        flap_dir_t  flap_top_dir;       
        flap_dir_t  flap_right_dir;     
        flap_dir_t  flap_left_dir;      
        float       min_thrust;         
        float       max_thrust;         
        float       min_deflection;     
        float       max_deflection;     
    };


    struct args_t
    {
        Servo& servo_motor;
        Servo& servo_flap_top;
        Servo& servo_flap_right;
        Servo& servo_flap_left;
    };

    Servos_mix_ywing(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_;

    flap_dir_t  flap_top_dir_;       
    flap_dir_t  flap_right_dir_;     
    flap_dir_t  flap_left_dir_;      
    float       min_thrust_;         
    float       max_thrust_;         
    float       min_deflection_;     
    float       max_deflection_;     
    Servo&      motor_;               
    Servo&      flap_top_;            
    Servo&      flap_right_;          
    Servo&      flap_left_;           
};



Servos_mix_ywing::conf_t Servos_mix_ywing::default_config()
{
    conf_t conf;
    conf.flap_top_dir   = FLAP_INVERTED;
    conf.flap_right_dir = FLAP_INVERTED;
    conf.flap_left_dir  = FLAP_INVERTED;
    conf.min_thrust     = -0.9f;
    conf.max_thrust     = 1.0f;
    conf.min_deflection = -1.0f;
    conf.max_deflection = 1.0f;

    return conf;
};

#endif