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

/*******************************************************************************
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/*******************************************************************************
 * \file stabilisation_wing.hpp
 *
 * \author MAV'RIC Team
 * \author Simon Pyroth
 *
 * \brief This file handles the stabilization of the platform
 *
 ******************************************************************************/


#ifndef STABILISATION_WING_HPP_
#define STABILISATION_WING_HPP_

#include "mission/navigation.hpp"
#include "control/stabilisation.hpp"
#include "sensing/imu.hpp"
#include "sensing/ins.hpp"
#include "drivers/airspeed_analog.hpp"
#include "control/control_command.hpp"


typedef struct
{
    stabiliser_t rate_stabiliser;                               
    stabiliser_t attitude_stabiliser;                           
    stabiliser_t velocity_stabiliser;                           
    stabiliser_t position_stabiliser;                           
} stabiliser_stack_wing_t;

typedef struct
{
    stabiliser_stack_wing_t stabiliser_stack;                   
    control_command_t* controls;                                
    torque_command_t* torque_command;                           
    thrust_command_t* thrust_command;                           
    const Imu* imu;                                             
    const ahrs_t* ahrs;                                         
    const INS* ins;                                             
    const Airspeed_analog* airspeed_analog;                     
    const Navigation* navigation;                               
    const Gps* gps;                                             
    float thrust_apriori;                                       
    float pitch_angle_apriori;                                  
    float pitch_angle_apriori_gain;                             
    float max_roll_angle;                                       
    float take_off_thrust;                                      
    float take_off_pitch;                                       
    float landing_pitch;                                        
    float landing_max_roll;                                     
    float dt_s;                                                 
    float last_update_s;                                        
} stabilisation_wing_t;

typedef struct
{
    float thrust_apriori;                                       
    float pitch_angle_apriori;                                  
    float pitch_angle_apriori_gain;                             
    float max_roll_angle;                                       
    float take_off_thrust;                                      
    float take_off_pitch;                                       
    float landing_pitch;                                        
    float landing_max_roll;                                     
    stabiliser_stack_wing_t stabiliser_stack;                   
} stabilisation_wing_conf_t;

bool stabilisation_wing_init(stabilisation_wing_t* stabilisation_wing, const stabilisation_wing_conf_t stabiliser_conf, control_command_t* controls, torque_command_t* torque_command, thrust_command_t* thrust_command, const Imu* imu, const ahrs_t* ahrs, const Position_estimation* pos_est, const Airspeed_analog* airspeed_analog, const Navigation* navigation, const Gps* gps);

void stabilisation_wing_cascade_stabilise(stabilisation_wing_t* stabilisation_wing);


#endif /* STABILISATION_WING_HPP_ */