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/**
* @file standard.h
* VTOL with fixed multirotor motor configurations (such as quad) and a pusher
* (or puller aka tractor) motor for forward flight.
*
* @author Simon Wilks 		<simon@uaventure.com>
* @author Roman Bapst 		<bapstroman@gmail.com>
* @author Andreas Antener	<andreas@uaventure.com>
* @author Sander Smeets 	<sander@droneslab.com>
*
*/

#ifndef STANDARD_H
#define STANDARD_H
#include "vtol_type.h"
#include <systemlib/param/param.h>
#include <drivers/drv_hrt.h>

class Standard : public VtolType
{

public:

	Standard(VtolAttitudeControl *_att_controller);
	~Standard();

	virtual void update_vtol_state();
	virtual void update_transition_state();
	virtual void update_fw_state();
	virtual void update_mc_state();
	virtual void fill_actuator_outputs();
	virtual void waiting_on_tecs();

private:

	struct {
		float front_trans_dur;
		float back_trans_dur;
		float pusher_trans;
		float airspeed_blend;
		float airspeed_trans;
		float front_trans_timeout;
		float front_trans_time_min;
		float down_pitch_max;
		float forward_thrust_scale;
		int airspeed_mode;
	} _params_standard;

	struct {
		param_t front_trans_dur;
		param_t back_trans_dur;
		param_t pusher_trans;
		param_t airspeed_blend;
		param_t airspeed_trans;
		param_t front_trans_timeout;
		param_t front_trans_time_min;
		param_t down_pitch_max;
		param_t forward_thrust_scale;
		param_t airspeed_mode;
	} _params_handles_standard;

	enum vtol_mode {
		MC_MODE = 0,
		TRANSITION_TO_FW,
		TRANSITION_TO_MC,
		FW_MODE
	};

	struct {
		vtol_mode flight_mode;			// indicates in which mode the vehicle is in
		hrt_abstime transition_start;	// at what time did we start a transition (front- or backtransition)
	} _vtol_schedule;

	bool _flag_enable_mc_motors;
	float _pusher_throttle;
	float _airspeed_trans_blend_margin;

	void set_max_mc(unsigned pwm_value);

	virtual void parameters_update();
};
#endif
