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#pragma once

/**
 * @file parameters.h
 *
 * defines the list of parameters that are used within the RCUpdate module
 *
 * @author Beat Kueng <beat-kueng@gmx.net>
 */
#include <px4_platform_common/px4_config.h>
#include <drivers/drv_rc_input.h>

#include <parameters/param.h>
#include <mathlib/mathlib.h>

#include <uORB/topics/rc_parameter_map.h>
#include <uORB/topics/input_rc.h>
namespace RCUpdate
{

static constexpr unsigned RC_MAX_CHAN_COUNT =
	input_rc_s::RC_INPUT_MAX_CHANNELS; /**< maximum number of r/c channels we handle */

struct Parameters {
	float min[RC_MAX_CHAN_COUNT];
	float trim[RC_MAX_CHAN_COUNT];
	float max[RC_MAX_CHAN_COUNT];
	float rev[RC_MAX_CHAN_COUNT];
	float dz[RC_MAX_CHAN_COUNT];
	float scaling_factor[RC_MAX_CHAN_COUNT];

	int32_t rc_map_roll;
	int32_t rc_map_pitch;
	int32_t rc_map_yaw;
	int32_t rc_map_throttle;
	int32_t rc_map_failsafe;

	int32_t rc_map_mode_sw;
	int32_t rc_map_return_sw;
	int32_t rc_map_rattitude_sw;
	int32_t rc_map_posctl_sw;
	int32_t rc_map_loiter_sw;
	int32_t rc_map_acro_sw;
	int32_t rc_map_offboard_sw;
	int32_t rc_map_kill_sw;
	int32_t rc_map_arm_sw;
	int32_t rc_map_trans_sw;
	int32_t rc_map_gear_sw;
	int32_t rc_map_stab_sw;
	int32_t rc_map_man_sw;
	int32_t rc_map_flaps;

	int32_t rc_map_aux1;
	int32_t rc_map_aux2;
	int32_t rc_map_aux3;
	int32_t rc_map_aux4;
	int32_t rc_map_aux5;
	int32_t rc_map_aux6;

	int32_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];

	int32_t rc_map_flightmode;

	int32_t rc_fails_thr;
	float rc_assist_th;
	float rc_auto_th;
	float rc_rattitude_th;
	float rc_posctl_th;
	float rc_return_th;
	float rc_loiter_th;
	float rc_acro_th;
	float rc_offboard_th;
	float rc_killswitch_th;
	float rc_armswitch_th;
	float rc_trans_th;
	float rc_gear_th;
	float rc_stab_th;
	float rc_man_th;

	bool rc_assist_inv;
	bool rc_auto_inv;
	bool rc_rattitude_inv;
	bool rc_posctl_inv;
	bool rc_return_inv;
	bool rc_loiter_inv;
	bool rc_acro_inv;
	bool rc_offboard_inv;
	bool rc_killswitch_inv;
	bool rc_armswitch_inv;
	bool rc_trans_inv;
	bool rc_gear_inv;
	bool rc_stab_inv;
	bool rc_man_inv;

	float rc_flt_smp_rate;
	float rc_flt_cutoff;
};

struct ParameterHandles {
	param_t min[RC_MAX_CHAN_COUNT];
	param_t trim[RC_MAX_CHAN_COUNT];
	param_t max[RC_MAX_CHAN_COUNT];
	param_t rev[RC_MAX_CHAN_COUNT];
	param_t dz[RC_MAX_CHAN_COUNT];

	param_t rc_map_roll;
	param_t rc_map_pitch;
	param_t rc_map_yaw;
	param_t rc_map_throttle;
	param_t rc_map_failsafe;

	param_t rc_map_mode_sw;
	param_t rc_map_return_sw;
	param_t rc_map_rattitude_sw;
	param_t rc_map_posctl_sw;
	param_t rc_map_loiter_sw;
	param_t rc_map_acro_sw;
	param_t rc_map_offboard_sw;
	param_t rc_map_kill_sw;
	param_t rc_map_arm_sw;
	param_t rc_map_trans_sw;
	param_t rc_map_gear_sw;
	param_t rc_map_flaps;
	param_t rc_map_stab_sw;
	param_t rc_map_man_sw;

	param_t rc_map_aux1;
	param_t rc_map_aux2;
	param_t rc_map_aux3;
	param_t rc_map_aux4;
	param_t rc_map_aux5;
	param_t rc_map_aux6;

	param_t rc_map_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];
	param_t rc_param[rc_parameter_map_s::RC_PARAM_MAP_NCHAN];	/**< param handles for the parameters which are bound
							  to a RC channel, equivalent float values in the
							  _parameters struct are not existing
							  because these parameters are never read. */

	param_t rc_map_flightmode;

	param_t rc_fails_thr;
	param_t rc_assist_th;
	param_t rc_auto_th;
	param_t rc_rattitude_th;
	param_t rc_posctl_th;
	param_t rc_return_th;
	param_t rc_loiter_th;
	param_t rc_acro_th;
	param_t rc_offboard_th;
	param_t rc_killswitch_th;
	param_t rc_armswitch_th;
	param_t rc_trans_th;
	param_t rc_gear_th;
	param_t rc_stab_th;
	param_t rc_man_th;

	param_t rc_flt_smp_rate;
	param_t rc_flt_cutoff;
};

/**
 * initialize ParameterHandles struct
 */
void initialize_parameter_handles(ParameterHandles &parameter_handles);


/**
 * Read out the parameters using the handles into the parameters struct.
 * @return 0 on success, <0 on error
 */
int update_parameters(const ParameterHandles &parameter_handles, Parameters &parameters);

} /* namespace RCUpdate */