/*
 * QuadArducopter.h
 *
 *  Created on: May 1, 2011
 *      Author: jgoppert
 */

#ifndef QUADARDUCOPTER_H_
#define QUADARDUCOPTER_H_

// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_QUAD;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_2560;
static const uint8_t heartBeatTimeout = 3;

// algorithm selection
#define CONTROLLER_CLASS ControllerQuad
#define GUIDE_CLASS MavlinkGuide
#define NAVIGATOR_CLASS DcmNavigator
#define COMMLINK_CLASS MavlinkComm

// hardware selection
#define ADC_CLASS AP_ADC_ADS7844
#define COMPASS_CLASS AP_Compass_HMC5843
#define BARO_CLASS APM_BMP085_Class
#define RANGE_FINDER_CLASS AP_RangeFinder_MaxsonarXL
#define DEBUG_BAUD 57600
#define TELEM_BAUD 57600
#define GPS_BAUD 38400
#define HIL_BAUD 57600

// optional sensors
static bool gpsEnabled = false;
static bool baroEnabled = true;
static bool compassEnabled = true;

static bool rangeFinderFrontEnabled = true;
static bool rangeFinderBackEnabled = true;
static bool rangeFinderLeftEnabled = true;
static bool rangeFinderRightEnabled = true;
static bool rangeFinderUpEnabled = true;
static bool rangeFinderDownEnabled = true;

// loop rates
static const float loop0Rate = 150;
static const float loop1Rate = 100;
static const float loop2Rate = 10;
static const float loop3Rate = 1;
static const float loop4Rate = 0.1;

//motor parameters
static const float MOTOR_MAX = 1;
static const float MOTOR_MIN = 0.1;

// position control loop
static const float PID_POS_INTERVAL = 1 / 100; // 5 hz
static const float PID_POS_P = 0;
static const float PID_POS_I = 0;
static const float PID_POS_D = 0;
static const float PID_POS_LIM = 0; // about 5 deg
static const float PID_POS_AWU = 0; // about 5 deg
static const float PID_POS_Z_P = 0;
static const float PID_POS_Z_I = 0;
static const float PID_POS_Z_D = 0;
static const float PID_POS_Z_LIM = 0;
static const float PID_POS_Z_AWU = 0;

// attitude control loop
static const float PID_ATT_INTERVAL = 1 / 100; // 100 hz
static const float PID_ATT_P = 0.1; // 0.1
static const float PID_ATT_I = 0; // 0.0
static const float PID_ATT_D = 0.1; // 0.1
static const float PID_ATT_LIM = 1; // 0.01 // 10 % #define MOTORs
static const float PID_ATT_AWU = 0; // 0.0
static const float PID_YAWPOS_P = 0;
static const float PID_YAWPOS_I = 0;
static const float PID_YAWPOS_D = 0;
static const float PID_YAWPOS_LIM = 0; // 1 rad/s
static const float PID_YAWPOS_AWU = 0; // 1 rad/s
static const float PID_YAWSPEED_P = .2;
static const float PID_YAWSPEED_I = 0;
static const float PID_YAWSPEED_D = 0;
static const float PID_YAWSPEED_LIM = .3; // 0.01 // 10 % MOTORs
static const float PID_YAWSPEED_AWU = 0.0;
static const float PID_YAWSPEED_DFCUT = 3.0; // 3 Radians, about 1 Hz

// mixing
static const float MIX_REMOTE_WEIGHT = 1;
static const float MIX_POSITION_WEIGHT = 1;
static const float MIX_POSITION_Z_WEIGHT = 1;
static const float MIX_POSITION_YAW_WEIGHT = 1;

static const float THRUST_HOVER_OFFSET = 0.475;

#include "ControllerQuad.h"

#endif /* QUADARDUCOPTER_H_ */