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/**
* @file tailsitter.h
*
* @author Roman Bapst 		<bapstroman@gmail.com>
* @author David Vorsin     <davidvorsin@gmail.com>
*
*/

#ifndef TAILSITTER_H
#define TAILSITTER_H

#include "vtol_type.h"

#include <parameters/param.h>
#include <drivers/drv_hrt.h>
#include <matrix/matrix/math.hpp>

class Tailsitter : public VtolType
{

public:
	Tailsitter(VtolAttitudeControl *_att_controller);
	~Tailsitter() override = default;

	void update_vtol_state() override;
	void update_transition_state() override;
	void update_fw_state() override;
	void fill_actuator_outputs() override;
	void waiting_on_tecs() override;

private:
	enum class vtol_mode {
		MC_MODE = 0,			/**< vtol is in multicopter mode */
		TRANSITION_FRONT_P1,	/**< vtol is in front transition part 1 mode */
		TRANSITION_BACK,		/**< vtol is in back transition mode */
		FW_MODE					/**< vtol is in fixed wing mode */
	};

	struct {
		vtol_mode flight_mode;			/**< vtol flight mode, defined by enum vtol_mode */
		hrt_abstime transition_start;	/**< absoulte time at which front transition started */
	} _vtol_schedule;

	bool _flag_was_in_trans_mode = false;	// true if mode has just switched to transition

	matrix::Quatf _q_trans_start;
	matrix::Quatf _q_trans_sp;
	matrix::Vector3f _trans_rot_axis;

	void parameters_update() override;

	DEFINE_PARAMETERS_CUSTOM_PARENT(VtolType,
					(ParamFloat<px4::params::FW_PSP_OFF>) _param_fw_psp_off
				       )


};
#endif