/home/usappz/DeadalusSim/source/sil/sil.hh

/* -----------------------------------------------------------------------------
 *
 *
 *  ____                   _____     _
 * / ___|  __ _ _ __  _ __|__  /  __| | ___
 * \___ \ / _` | '_ \| '_ \ / /  / _` |/ _ \
 *  ___) | (_| | |_) | |_) / /_ | (_| |  __/
 * |____/ \__,_| .__/| .__/____(_)__,_|\___|
 *             |_|   |_|
 *
 *
 *
 * Author: Andreas Gschossmann
 * Email:  andreas.gschossmann@hs-regensburg.de
 *
 * quadrotor_dynamics.hh - Relationship between rotor-speed or alternatively
 * digital value for brushless drivers and resulting thrust of the motor.
 *
 * -----------------------------------------------------------------------------*/
#ifndef _SIL_HH_ 
#define _SIL_HH_

#include "../dependencies/resources.hh"
#include "../dependencies/constants.hh"
#include "../joystick/joystick.hh"


class SIL 
{ 
    public: SIL();

    public: virtual ~SIL();
  
    private: 
      AngularVel        _rotor_speed;                   
      ActuationVal      _actuation_value;               

    private:
      int               _test_sequence_iterator;        

    private:
      // variables for C-functions in main loop
      float     acc_x, acc_y, acc_z;     
      float     gyro_x, gyro_y, gyro_z;  // data gyro
      float     gx, gy, gz;
      float     roll, pitch, yaw;        // inertial angles
      float     y_roll, y_pitch, y_yaw;
      float     gas_ctrl, pitch_ctrl, roll_ctrl, yaw_ctrl; // desired values from controller 

    private:
       Joystick _ps3controller;                 

    private: void test_sequence();              

    private: void get_ps3controller();          
    private: void get_key();                    
    
    public: 
      AngularVel        get_rotor_speed();      
      ActuationVal      get_actuation_value();  
   
     
    public: void init();                                        



    public: void update(double dT, Sensors mySensorsVals);      




  };

#endif