AP_SpdHgtControl.h

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#pragma once


/*
  This defines a generic interface for speed & height controllers. Each
  specific controller should be a subclass of this generic
  interface. All variables used by controllers should be in their
  own class.
 */

#include <AP_Common/AP_Common.h>
#include <AP_Param/AP_Param.h>
#include <DataFlash/DataFlash.h>
#include <AP_Vehicle/AP_Vehicle.h>

class AP_SpdHgtControl {
public:
    // Update the internal state of the height and height rate estimator
    // Update of the inertial speed rate estimate internal state
    // Should be called at 50Hz or faster
    virtual void update_50hz(void) = 0;


    // Update of the pitch and throttle demands
    // Should be called at 10Hz or faster
    virtual void update_pitch_throttle( int32_t hgt_dem_cm,
                                        int32_t EAS_dem_cm,
                                        enum AP_Vehicle::FixedWing::FlightStage flight_stage,
                                        float distance_beyond_land_wp,
                                        int32_t ptchMinCO_cd,
                                        int16_t throttle_nudge,
                                        float hgt_afe,
                                        float load_factor) = 0;

    // demanded throttle in percentage
    // should return 0 to 100
    virtual int32_t get_throttle_demand(void)=0;
    
    // demanded pitch angle in centi-degrees
    // should return -9000 to +9000
    virtual int32_t get_pitch_demand(void)=0;
    
    // Rate of change of velocity along X body axis in m/s^2
    virtual float get_VXdot(void)=0;
    
    // return current target airspeed
    virtual float get_target_airspeed(void) const = 0;

    // return maximum climb rate
    virtual float get_max_climbrate(void) const = 0;

    // added to let SoaringController reset pitch integrator to zero
    virtual void reset_pitch_I(void) = 0;
    
    // return landing sink rate
    virtual float get_land_sinkrate(void) const = 0;

    // return landing airspeed
    virtual float get_land_airspeed(void) const = 0;

    // set path_proportion accessor
    virtual void set_path_proportion(float path_proportion) = 0;

    // add new controllers to this enum. Users can then
    // select which controller to use by setting the
    // SPDHGT_CONTROLLER parameter
    enum ControllerType {
        CONTROLLER_TECS     = 1
    };
    

};