SIM_Calibration.h

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/*
 * Copyright (C) 2015-2016  Intel Corporation. All rights reserved.
 *
 * This file 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 file 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 "SIM_Aircraft.h"

#include <AP_Math/AP_Math.h>

namespace SITL {

class Calibration : public Aircraft {
public:
    Calibration(const char *home_str, const char *frame_str);

    void update(const struct sitl_input& input);

    static Aircraft *create(const char *home_str, const char *frame_str) {
        return new Calibration(home_str, frame_str);
    }

private:
    void _stop_control(const struct sitl_input& input, Vector3f& rot_accel);

    void _attitude_set(float desired_roll, float desired_pitch, float desired_yaw,
                       Vector3f& rot_accel);

    void _attitude_control(const struct sitl_input& input,
                           Vector3f& rot_accel);

    void _angular_velocity_control(const struct sitl_input& input,
                                   Vector3f& rot_accel);

    void _calibration_poses(Vector3f& rot_accel);
};
}