/****************************************************************************
 *
 *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
 *   Author: Anton Babushkin <anton.babushkin@me.com>
 *
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/*
 * @file multirotor_pos_control_params.h
 *
 * Parameters for multirotor_pos_control
 */

#include <systemlib/param/param.h>

struct multirotor_position_control_params {
	float thr_min;
	float thr_max;
	float z_p;
	float z_d;
	float z_vel_p;
	float z_vel_i;
	float z_vel_d;
	float z_vel_max;
	float xy_p;
	float xy_d;
	float xy_vel_p;
	float xy_vel_i;
	float xy_vel_d;
	float xy_vel_max;
	float tilt_max;

	float rc_scale_pitch;
	float rc_scale_roll;
	float rc_scale_yaw;
};

struct multirotor_position_control_param_handles {
	param_t thr_min;
	param_t thr_max;
	param_t z_p;
	param_t z_d;
	param_t z_vel_p;
	param_t z_vel_i;
	param_t z_vel_d;
	param_t z_vel_max;
	param_t xy_p;
	param_t xy_d;
	param_t xy_vel_p;
	param_t xy_vel_i;
	param_t xy_vel_d;
	param_t xy_vel_max;
	param_t tilt_max;

	param_t rc_scale_pitch;
	param_t rc_scale_roll;
	param_t rc_scale_yaw;
};

/**
 * Initialize all parameter handles and values
 *
 */
int parameters_init(struct multirotor_position_control_param_handles *h);

/**
 * Update all parameters
 *
 */
int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p);