flight_computer.h

#ifndef FLIGHT_COMPUTER_H
#define FLIGHT_COMPUTER_H

// For MOTOR_COUNT and SERVO_COUNT below - the snapshot has to be exactly as
// wide as the drivers it is reporting on.
#include "motors.h"
#include "servos.h"

// The vehicle's mode. This is the only FlightMode in the firmware - main.cpp
// does not keep one of its own.
enum FlightMode {
    IDLE,         // disarmed, motors inert
    VERTICAL,     // hover, altitude hold on the four lift rotors
    TRANSITION,   // timed tilt ramp between hover and cruise
    HORIZONTAL    // cruise, heading and speed hold
};

// One snapshot of the aircraft, assembled once per cycle and handed to
// telemetry. There is no attitude in here: the airframe carries no IMU, so
// pitch, roll and yaw have no source, and a downlink that reports numbers
// nothing measured is worse than one that admits the gap.
struct FlightData {
    float altitude;                   // m above where the aircraft was powered up
    float verticalSpeed;              // m/s, positive up
    float heading;                    // deg, 0..360
    float speed;                      // m/s over the ground
    float latitude;                   // decimal degrees
    float longitude;                  // decimal degrees
    float motorPower[MOTOR_COUNT];    // 0..1, as last commanded
    float servoAngles[SERVO_COUNT];   // degrees, as last commanded
    FlightMode mode;
    bool armed;
};

void initFlightComputer();

// One control cycle. main.cpp calls this at a fixed 50 Hz.
void updateFlightComputer();

FlightData getFlightData();

#endif // FLIGHT_COMPUTER_H