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/**
* @file tiltrotor.h
*
* @author Roman Bapst 		<bapstroman@gmail.com>
*
*/

#ifndef TILTROTOR_H
#define TILTROTOR_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>

class Tiltrotor : public VtolType
{

public:

	Tiltrotor(VtolAttitudeControl *_att_controller);
	~Tiltrotor() override = default;

	void update_vtol_state() override;
	void update_transition_state() override;
	void fill_actuator_outputs() override;
	void update_mc_state() override;
	void update_fw_state() override;
	void waiting_on_tecs() override;
	float thrust_compensation_for_tilt();

private:

	struct {
		float tilt_mc;				/**< actuator value corresponding to mc tilt */
		float tilt_transition;			/**< actuator value corresponding to transition tilt (e.g 45 degrees) */
		float tilt_fw;				/**< actuator value corresponding to fw tilt */
		float tilt_spinup;			/**< actuator value corresponding to spinup tilt */
		float front_trans_dur_p2;
	} _params_tiltrotor;

	struct {
		param_t tilt_mc;
		param_t tilt_transition;
		param_t tilt_fw;
		param_t tilt_spinup;
		param_t front_trans_dur_p2;
	} _params_handles_tiltrotor;

	enum class vtol_mode {
		MC_MODE = 0,			/**< vtol is in multicopter mode */
		TRANSITION_FRONT_P1,	/**< vtol is in front transition part 1 mode */
		TRANSITION_FRONT_P2,	/**< vtol is in front transition part 2 mode */
		TRANSITION_BACK,		/**< vtol is in back transition mode */
		FW_MODE					/**< vtol is in fixed wing mode */
	};

	/**
	 * Specific to tiltrotor with vertical aligned rear engine/s.
	 * These engines need to be shut down in fw mode. During the back-transition
	 * they need to idle otherwise they need too much time to spin up for mc 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;

	float _tilt_control{0.0f};		/**< actuator value for the tilt servo */

	void parameters_update() override;
	hrt_abstime _last_timestamp_disarmed{0}; /**< used for calculating time since arming */
	bool _tilt_motors_for_startup{false};

};
#endif