File content as of revision 16:2be2aab63198:

#ifndef QUADCOPTER_H
#define QUADCOPTER_H

#include "mbed.h"
#include "Adafruit_9DOF.h"
#include "Serial_base.h"
#include "MRF24J40.h"


// a few struct declarations. Can possibly eliminated using the vector class in STL
struct state {
    double phi; // roll
    double theta; // pitch
    double psi; // yaw
    double p; // omega x
    double q; // omega y
    double r; // omega z

};

struct controlInput {
    double f;
    double mx;
    double my;
    double mz;
};

typedef struct {
    double x;
    double y;
    double z;
} offset;

struct motors {
    double m1;
    double m2;
    double m3;
    double m4;
};


class Quadcopter {
private:
    Serial *pc_; // use for printing
    
    // allow for remote communication
    MRF24J40 *mrf_;
    int rcIterations_;
    int rcLength_;
    Timer rcTimer_;
    float thrust_;
    float yaw_;
    float pitch_;
    float roll_;

    state state_;
    state desiredState_;
    controlInput controlInput_;
    //pwmOut * _pwmOut; // give address to constructor, than change this value
    motors motorPwm_;
    PwmOut *motor1_;
    
    // declarations for IMU use
    Adafruit_9DOF dof_;
    Adafruit_LSM303_Accel_Unified accel_;
    Adafruit_LSM303_Mag_Unified mag_;
    Adafruit_L3GD20_Unified gyro_;
    sensors_event_t accel_event_;
    sensors_event_t mag_event_;
    sensors_event_t gyro_event_;
    sensors_vec_t   orientation_;
    offset offsetAngRate_;
    offset offsetAttitude_; // used later to compensate default tilt of IMU

    Serial *pcPntr_; // used to access serial communication
    

    double g_;  // gravity [m/s^2]
    double m_; // mass [kg]
    
    // proportional attitude control gains
    double kp_phi_;
    double kp_theta_;
    double kp_psi_;

    // derivative attitude control gains
    double kd_phi_;
    double kd_theta_;
    double kd_psi_;

    // desired force (will come from joystick)
    double F_des_; // desired thrust force (excluding weight compensation)

public:
    Quadcopter(Serial *pcPntr, MRF24J40 *mrfPntr);  // constructor

    void setState(state *source, state *goal); // not sure if needed
    void controller();
    void readSensorValues();

    void readRc();

    motors getPwm();
    
    //void readJoystick();
    // not implemented yet
    //void setGains();
    //void setPwm();
    //void initializePwm();
};

#endif