/*
   This program 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 3 of the License, or
   (at your option) any later version.

   This program 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 this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#include <AP_Param/AP_Param.h>
class QuadPlane;
class AP_MotorsMulticopter;
class Tailsitter
{
friend class QuadPlane;
friend class Plane;
public:

    Tailsitter(QuadPlane& _quadplane, AP_MotorsMulticopter*& _motors);

    bool enabled() const { return enable > 0;}

    // return true when flying a control surface only tailsitter
    bool is_control_surface_tailsitter(void) const;

    // return true when flying a tailsitter in VTOL
    bool active(void);
    
    // create outputs for tailsitters
    void output(void);

    // handle different tailsitter input types
    void check_input(void);

    // check if we have completed transition to fixed wing
    bool transition_fw_complete(void);

    // return true if we are a tailsitter in FW flight
    bool is_in_fw_flight(void) const;

    // check if we have completed transition to vtol
    bool transition_vtol_complete(void) const;

    // return true if transistion to VTOL flight
    bool in_vtol_transition(uint32_t now = 0) const;

    // account for control surface speed scaling in VTOL modes
    void speed_scaling(void);

    // return the transition_angle_vtol value
    int8_t get_transition_angle_vtol() const;


    // true when flying a tilt-vectored tailsitter
    bool _is_vectored;

    // tailsitter speed scaler
    float last_spd_scaler = 1.0f; // used to slew rate limiting with TAILSITTER_GSCL_ATT_THR option
    float log_spd_scaler; // for QTUN log

    static const struct AP_Param::GroupInfo var_info[];

    // bit 0 enables plane mode and bit 1 enables body-frame roll mode
    enum input {
        TAILSITTER_INPUT_PLANE   = (1U<<0),
        TAILSITTER_INPUT_BF_ROLL = (1U<<1)
    };

    enum mask {
        TAILSITTER_MASK_AILERON  = (1U<<0),
        TAILSITTER_MASK_ELEVATOR = (1U<<1),
        TAILSITTER_MASK_THROTTLE = (1U<<2),
        TAILSITTER_MASK_RUDDER   = (1U<<3),
    };

    enum gscl_mask {
        TAILSITTER_GSCL_THROTTLE = (1U<<0),
        TAILSITTER_GSCL_ATT_THR = (1U<<1),
        TAILSITTER_GSCL_DISK_THEORY = (1U<<2),
        TAILSITTER_GSCL_ALTITUDE = (1U<<3),
    };

    AP_Int8 enable;
    AP_Int8 transition_angle_fw;
    AP_Float transition_rate_fw;
    AP_Int8 transition_angle_vtol;
    AP_Float transition_rate_vtol;
    AP_Int8 input_type;
    AP_Int8 input_mask;
    AP_Int8 input_mask_chan;
    AP_Float vectored_forward_gain;
    AP_Float vectored_hover_gain;
    AP_Float vectored_hover_power;
    AP_Float throttle_scale_max;
    AP_Float gain_scaling_min;
    AP_Float max_roll_angle;
    AP_Int16 motor_mask;
    AP_Float scaling_speed_min;
    AP_Float scaling_speed_max;
    AP_Int16 gain_scaling_mask;
    AP_Float disk_loading;

private:

    // refences for convenience
    QuadPlane& quadplane;
    AP_MotorsMulticopter*& motors;

};