// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
#pragma once

/// @file    AC_AttitudeControl_Multi.h
/// @brief   ArduCopter attitude control library

#include "AC_AttitudeControl.h"
#include <AP_Motors/AP_MotorsMulticopter.h>

// default rate controller PID gains
#ifndef AC_ATC_MULTI_RATE_RP_P
  # define AC_ATC_MULTI_RATE_RP_P           0.135f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_I
  # define AC_ATC_MULTI_RATE_RP_I           0.090f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_D
  # define AC_ATC_MULTI_RATE_RP_D           0.0036f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_IMAX
 # define AC_ATC_MULTI_RATE_RP_IMAX         0.444f
#endif
#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
 # define AC_ATC_MULTI_RATE_RP_FILT_HZ      20.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_P
 # define AC_ATC_MULTI_RATE_YAW_P           0.180f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_I
 # define AC_ATC_MULTI_RATE_YAW_I           0.018f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_D
 # define AC_ATC_MULTI_RATE_YAW_D           0.0f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_IMAX
 # define AC_ATC_MULTI_RATE_YAW_IMAX        0.222f
#endif
#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
 # define AC_ATC_MULTI_RATE_YAW_FILT_HZ     5.0f
#endif


class AC_AttitudeControl_Multi : public AC_AttitudeControl {
public:
	AC_AttitudeControl_Multi(AP_AHRS &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);

	// empty destructor to suppress compiler warning
	virtual ~AC_AttitudeControl_Multi() {}

    // pid accessors
    AC_PID& get_rate_roll_pid() { return _pid_rate_roll; }
    AC_PID& get_rate_pitch_pid() { return _pid_rate_pitch; }
    AC_PID& get_rate_yaw_pid() { return _pid_rate_yaw; }

    // get lean angle max for pilot input that prioritises altitude hold over lean angle
    float get_althold_lean_angle_max() const;

    // calculate total body frame throttle required to produce the given earth frame throttle
    float get_boosted_throttle(float throttle_in);

    // user settable parameters
    static const struct AP_Param::GroupInfo var_info[];

protected:

    AP_MotorsMulticopter& _motors_multi;
    AC_PID                _pid_rate_roll;
    AC_PID                _pid_rate_pitch;
    AC_PID                _pid_rate_yaw;
};