control_mode_attitude.h

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#ifndef CONTROL_MODE_ATTITUDE_H
#define CONTROL_MODE_ATTITUDE_H

#include "flyer_controller/joystick_modes.h"
#include "flyer_controller/attitude_controller.h"
#include <math.h>
#include <algorithm>
#include <tf/transform_datatypes.h>

#define DEG2RAD (M_PI/180.0)
#define RAD2DEG (180.0/M_PI)

using namespace flyer_controller;
using namespace std;
using namespace ControlModeTypes;

namespace flyer_controller
{
class ControlModeAttitude : public JoystickMode
{
private:
  // Parameters
  bool step_input_mode_enabled; //
  int step_input_joystick_roll_axis; // which joystick axis will trigger a roll axis step
  int step_input_joystick_pitch_axis; // which joystick axis will trigger a pitch axis step
  double step_input_magnitude; // [deg] size of step attitude input when one is commanded

  // Members
  AttitudeController att_control;

public:
  ControlModeAttitude(string mode_name = "attitude") :
    JoystickMode(mode_name), att_control()
  {
  }

  void onInit();

private:
  // Virtual methods from base class
  void outputControl();

private:
  void applyStepInputs(control_mode_outputPtr& control_out);
  void reportStatusTimerCallback(const ros::TimerEvent& e);
  void controlModeCmdCallback(const control_mode_cmdConstPtr& msg);

}; // class

} // namespace

#endif