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/**
 * @file commander_helper.h
 * Commander helper functions definitions
 *
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <julian@oes.ch>
 */

#ifndef COMMANDER_HELPER_H_
#define COMMANDER_HELPER_H_

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <drivers/drv_rgbled.h>


bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
bool is_vtol(const struct vehicle_status_s *current_status);

int buzzer_init(void);
void buzzer_deinit(void);

void set_tune_override(int tune);
void set_tune(int tune);
void tune_positive(bool use_buzzer);
void tune_neutral(bool use_buzzer);
void tune_negative(bool use_buzzer);

int blink_msg_state();

int led_init(void);
void led_deinit(void);
int led_toggle(int led);
int led_on(int led);
int led_off(int led);

void rgbled_set_color(rgbled_color_t color);
void rgbled_set_mode(rgbled_mode_t mode);
void rgbled_set_pattern(rgbled_pattern_t *pattern);

int battery_init();

/**
 * Estimate remaining battery charge.
 *
 * Use integral of current if battery capacity known (BAT_CAPACITY parameter set),
 * else use simple estimate based on voltage.
 *
 * @param voltage the current battery voltage
 * @param discharged the discharged capacity
 * @param throttle_normalized the normalized throttle magnitude from 0 to 1. Negative throttle should be converted to this range as well, as it consumes energy.
 * @return the estimated remaining capacity in 0..1
 */
float battery_remaining_estimate_voltage(float voltage, float discharged, float throttle_normalized);

#endif /* COMMANDER_HELPER_H_ */