stabilization_attitude_rc_setpoint.h

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/*
 * Copyright (C) 2012 Felix Ruess <felix.ruess@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */
 
#ifndef STABILIZATION_ATTITUDE_RC_SETPOINT_H
#define STABILIZATION_ATTITUDE_RC_SETPOINT_H
 
#include "std.h"
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
#include "modules/radio_control/radio_control.h"
 
struct AttitudeRCInput {
  struct FloatQuat    rc_quat;    
  struct FloatEulers  rc_eulers;  
  float care_free_heading;        
  float transition_theta_offset;  
  float last_ts;                  //< last timestamp (in seconds)
};
 
extern void stabilization_attitude_rc_setpoint_init(struct AttitudeRCInput *rc_sp);
 
extern void stabilization_attitude_read_rc_setpoint(struct AttitudeRCInput *rc_sp, bool in_flight,
    bool in_carefree, bool coordinated_turn, struct RadioControl *rc);
 
extern void stabilization_attitude_read_rc_setpoint_earth_bound(struct AttitudeRCInput *rc_sp, bool in_flight,
    bool in_carefree, bool coordinated_turn, struct RadioControl *rc);
 
extern struct Int32Eulers stabilization_attitude_read_rc_setpoint_eulers(struct AttitudeRCInput *rc_sp, bool in_flight,
    bool in_carefree, bool coordinated_turn, struct RadioControl *rc);
 
extern struct FloatEulers stabilization_attitude_read_rc_setpoint_eulers_f(struct AttitudeRCInput *rc_sp, bool in_flight,
    bool in_carefree, bool coordinated_turn, struct RadioControl *rc);
 
extern void stabilization_attitude_reset_rc_setpoint(struct AttitudeRCInput *rc_sp);
 
extern void stabilization_attitude_reset_care_free_heading(struct AttitudeRCInput *rc_sp);
 
extern void stabilization_attitude_read_rc_roll_pitch_quat_f(struct FloatQuat *q, struct RadioControl *rc);
 
extern void stabilization_attitude_read_rc_roll_pitch_earth_quat_f(struct FloatQuat *q, float theta_offset, struct RadioControl *rc);
 
extern int32_t stabilization_attitude_get_heading_i(void);
 
extern float stabilization_attitude_get_heading_f(void);
 
#endif /* STABILIZATION_ATTITUDE_RC_SETPOINT_H */