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   *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
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   *    notice, this list of conditions and the following disclaimer.
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   *    distribution.
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   ****************************************************************************/
  
  /**
  * @file standard.h
  * VTOL with fixed multirotor motor configurations (such as quad) and a pusher
  * (or puller aka tractor) motor for forward flight.
  *
  * @author Simon Wilks 		<simon@uaventure.com>
  * @author Roman Bapst 		<bapstroman@gmail.com>
  * @author Andreas Antener	<andreas@uaventure.com>
  * @author Sander Smeets 	<sander@droneslab.com>
  *
  */
  
  #ifndef STANDARD_H
  #define STANDARD_H
  #include "vtol_type.h"
  #include <systemlib/param/param.h>
  #include <drivers/drv_hrt.h>
  
  class Standard : public VtolType
  {
  
  public:
  
  	Standard(VtolAttitudeControl *_att_controller);
  	~Standard();
  
  	virtual void update_vtol_state();
  	virtual void update_transition_state();
  	virtual void update_fw_state();
  	virtual void update_mc_state();
  	virtual void fill_actuator_outputs();
  	virtual void waiting_on_tecs();
  
  private:
  
  	struct {
  		float front_trans_dur;
  		float back_trans_dur;
  		float back_trans_ramp;
  		float pusher_trans;
  		float airspeed_blend;
  		float airspeed_trans;
  		float front_trans_timeout;
  		float front_trans_time_min;
  		float down_pitch_max;
  		float forward_thrust_scale;
  		int32_t airspeed_disabled;
  		float pitch_setpoint_offset;
  		float reverse_output;
  		float reverse_delay;
  		float back_trans_throttle;
  		float mpc_xy_cruise;
  	} _params_standard;
  
  	struct {
  		param_t front_trans_dur;
  		param_t back_trans_dur;
  		param_t back_trans_ramp;
  		param_t pusher_trans;
  		param_t airspeed_blend;
  		param_t airspeed_trans;
  		param_t front_trans_timeout;
  		param_t front_trans_time_min;
  		param_t down_pitch_max;
  		param_t forward_thrust_scale;
  		param_t airspeed_disabled;
  		param_t pitch_setpoint_offset;
  		param_t reverse_output;
  		param_t reverse_delay;
  		param_t back_trans_throttle;
  		param_t mpc_xy_cruise;
  	} _params_handles_standard;
  
  	enum vtol_mode {
  		MC_MODE = 0,
  		TRANSITION_TO_FW,
  		TRANSITION_TO_MC,
  		FW_MODE
  	};
  
  	struct {
  		vtol_mode flight_mode;			// indicates in which mode the vehicle is in
  		hrt_abstime transition_start;	// at what time did we start a transition (front- or backtransition)
  	} _vtol_schedule;
  
  	bool _flag_enable_mc_motors;
  	float _pusher_throttle;
  	float _reverse_output;
  	float _airspeed_trans_blend_margin;
  
  	void set_max_mc(unsigned pwm_value);
  
  	virtual void parameters_update();
  };
  #endif
  