attitude_controller.h

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#ifndef ATTITUDE_CONTROLLER_H
#define ATTITUDE_CONTROLLER_H

#include "flyer_controller/control_mode.h"
#include "flyer_controller/joystick_modes.h"
#include "flyer_controller/control_utils.h"
#include "starmac_msgs/OperatorCommands.h"

using angles::to_degrees;
using angles::from_degrees;

namespace flyer_controller
{
class AttitudeController
{
private:
  ros::Time last_time;
  bool external_command_frame;
  bool direct_yaw_rate_control;
  double external_frame_heading;
  double yaw_cmd;
  double max_pitch_cmd; // [deg] commanded pitch corresponding to full deflection
  double max_roll_cmd; // [deg] commanded roll corresponding to full deflection
  double max_yaw_rate_cmd; // [deg/s] yaw rate corresponding to full deflection
  double min_alt_cmd;
  double max_alt_cmd;

public:

  AttitudeController();

  void outputControl(const nav_msgs::OdometryConstPtr& latest_state,
                     const starmac_msgs::OperatorCommandsConstPtr& latest_opercmd, control_mode_outputPtr& control_out);

  void configure(bool external_frame, double external_heading, bool use_direct_yaw_rate_control,
                 double max_pitch_cmd_set, double max_roll_cmd_set, double max_yaw_rate_cmd_set,
                 double min_alt_cmd_set, double max_alt_cmd_set)
  {
    external_command_frame = external_frame;
    external_frame_heading = external_heading;
    direct_yaw_rate_control = use_direct_yaw_rate_control;
    max_pitch_cmd = max_pitch_cmd_set;
    max_roll_cmd = max_roll_cmd_set;
    max_yaw_rate_cmd = max_yaw_rate_cmd_set;
    min_alt_cmd = min_alt_cmd_set;
    max_alt_cmd = max_alt_cmd_set;
  }

  void setYawCmd(double new_yaw_cmd)
  {
    yaw_cmd = new_yaw_cmd;
  }

  void useCurrentYaw(const nav_msgs::OdometryConstPtr& latest_state);
}; // class
} // namespace
#endif //