DJI_Flight.h

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#ifndef DJI_FLIGHT_H
#define DJI_FLIGHT_H

#include "DJI_API.h"

namespace DJI
{
namespace onboardSDK
{
#pragma pack(1)

typedef struct FlightData
{
  uint8_t flag;
  float32_t x;
  float32_t y;
  float32_t z;
  float32_t yaw;
} FlightData;

#pragma pack()

class Flight
{
  public:
  enum TASK
  {
    TASK_GOHOME = 1,
    TASK_TAKEOFF = 4,
    TASK_LANDING = 6
  };

  enum VerticalLogic
  {
    VERTICAL_VELOCITY = 0x00,
    VERTICAL_POSITION = 0x10,
    VERTICAL_THRUST = 0x20,
  };

  enum HorizontalLogic
  {
    HORIZONTAL_ANGLE = 0x00,
    HORIZONTAL_VELOCITY = 0x40,
    HORIZONTAL_POSITION = 0X80,
  };

  enum YawLogic
  {
    YAW_ANGLE = 0x00,
    YAW_RATE = 0x08
  };

  enum HorizontalCoordinate
  {
    HORIZONTAL_GROUND = 0x00,
    HORIZONTAL_BODY = 0x02
  };

  enum YawCoordinate
  {
    YAW_GROUND = 0x00,
    YAW_BODY = 0X01
  };
  enum SmoothMode
  {
    SMOOTH_DISABLE = 0x00,
    SMOOTH_ENABLE = 0x01
  };

  enum Status
  {
    STATUS_GROUND_STANDBY = 1,
    STATUS_TAKE_OFF = 2,
    STATUS_SKY_STANDBY = 3,
    STATUS_LANDING = 4,
    STATUS_FINISHING_LANDING = 5,
  };


  enum Device
  {
    DEVICE_RC = 0,
    DEVICE_APP = 1,
    DEVICE_SDK = 2,
  };

  enum Mode
  {
    ATTI_STOP = 0,
    HORIZ_ANG_VERT_VEL_YAW_ANG = 1,
    HORIZ_ANG_VERT_VEL_YAW_RATE = 2,
    HORIZ_VEL_VERT_VEL_YAW_ANG = 3,
    HORIZ_VEL_VERT_VEL_YAW_RATE = 4,
    HORIZ_POS_VERT_VEL_YAW_ANG = 5,
    HORIZ_POS_VERT_VEL_YAW_RATE = 6,
    HORIZ_ANG_VERT_POS_YAW_ANG = 7,
    HORIZ_ANG_VERT_POS_YAW_RATE = 8,
    HORIZ_VEL_VERT_POS_YAW_ANG = 9,
    HORIZ_VEL_VERT_POS_YAW_RATE = 10,
    HORIZ_POS_VERT_POS_YAW_ANG = 11,
    HORIZ_POS_VERT_POS_YAW_RATE = 12,
    HORIZ_ANG_VERT_THR_YAW_ANG = 13,
    HORIZ_ANG_VERT_THR_YAW_RATE = 14,
    HORIZ_VEL_VERT_THR_YAW_ANG = 15,
    HORIZ_VEL_VERT_THR_YAW_RATE = 16,
    HORIZ_POS_VERT_THR_YAW_ANG = 17,
    HORIZ_POS_VERT_THR_YAW_RATE = 18,
    GPS_ATII_CTRL_CL_YAW_RATE = 97,
    GPS_ATTI_CTRL_YAW_RATE = 98,
    ATTI_CTRL_YAW_RATE = 99,
    ATTI_CTRL_STOP = 100,
    MODE_NOT_SUPPORTED = 0xFF
  };

  public:
  Flight(CoreAPI *ControlAPI = 0);

  void task(TASK taskname, CallBack TaskCallback = 0, UserData userData = 0);
  unsigned short task(TASK taskname, int timer);
  void setArm(bool enable, CallBack ArmCallback = 0, UserData userData = 0);
  unsigned short setArm(bool enable, int timer);
  void control(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw); 
  void setMovementControl(uint8_t flag, float32_t x, float32_t y, float32_t z, float32_t yaw);
  void setFlight(FlightData *data); 

  QuaternionData getQuaternion() const;

  EulerAngle getEulerAngle() const;

  PositionData getPosition() const;
  VelocityData getVelocity() const;
  CommonData getAcceleration() const;
  CommonData getYawRate() const;

  MagnetData getMagnet() const;

  Device getControlDevice() const;
  Status getStatus() const;
  Mode getControlMode() const;

  Angle getYaw() const;
  Angle getRoll() const;
  Angle getPitch() const;

  public: 
  static void armCallback(CoreAPI *api, Header *protoclHeader, UserData userData = 0);
  static void taskCallback(CoreAPI *api, Header *protocolHeader, UserData userData = 0);

  public: 

  static EulerianAngle toEulerianAngle(QuaternionData data);
  static EulerAngle toEulerAngle(QuaternionData quaternionData);
  static QuaternionData toQuaternion(EulerianAngle eulerAngleData);

  public: 
  CoreAPI *getApi() const;
  void setApi(CoreAPI *value);

  private:
  CoreAPI *api;
  TaskData taskData;

#ifdef USE_SIMULATION
  public:
  bool isSimulating() const;
  void setSimulating(bool value);

  private:
  bool simulating;
  Vector3dData position;
  Vector3dData speed;
  EulerAngle AngularSim;
#endif // USE_SIMULATION
};

} //namespace OnboardSDK
} //namespace DJI
#endif // DJI_FLIGHT_H