ardupilot/libraries/AC_InputManager/AC_InputManager_Heli.h

#pragma once

/// @file   AC_InputManager_Heli.h
/// @brief  Pilot manual control input library for Conventional Helicopter

#include <AP_Param/AP_Param.h>
#include <AP_Common/AP_Common.h>
#include "AC_InputManager.h"

# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MIN_DEFAULT     0
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_LOW_DEFAULT     40
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_HIGH_DEFAULT    60
# define AC_ATTITUDE_HELI_STAB_COLLECTIVE_MAX_DEFAULT     100

/// @class  AP_InputManager_Heli
/// @brief  Class managing the pilot's control inputs   for Conventional Helicopter
class AC_InputManager_Heli : public AC_InputManager {
public:
    // Constructor
    AC_InputManager_Heli()
        : AC_InputManager()
    {
        // setup parameter defaults
        AP_Param::setup_object_defaults(this, var_info);
    }

    /* Do not allow copies */
    CLASS_NO_COPY(AC_InputManager_Heli);

    //pass the last collective output from non-manual throttle mode
    void set_last_coll_output(float collective) { _old_flightmode_col_output = collective; }

    // get_pilot_desired_collective - rescale's pilot collective pitch input in Stabilize and Acro modes
    float get_pilot_desired_collective(int16_t control_in);

    // set_use_stab_col - setter function
    void set_use_stab_col(bool use) { _im_flags_heli.use_stab_col = use; }

    // set collective_ramp - setter function
    void set_collective_ramp(float ramp) { _ramp = constrain_float(ramp, 0.0, 1.0); }

    // parameter_check - returns true if input manager specific parameters are sensible, used for pre-arm check
    bool parameter_check(char* fail_msg, uint8_t fail_msg_len) const;

    static const struct AP_Param::GroupInfo        var_info[];

private:
    struct InputManagerHeliFlags {
        bool use_stab_col; // 1 if we should use Stabilise mode collective range, 0 for Acro range
    } _im_flags_heli;

    // previous flight mode collective output
    float _old_flightmode_col_output;

    // ramp factor from previous mode to current mode collective output
    float _ramp;

    AP_Int16        _heli_stab_col_min;             // minimum collective pitch setting at zero throttle input in Stabilize mode
    AP_Int16        _heli_stab_col_low;             // collective pitch setting at mid-low throttle input in Stabilize mode
    AP_Int16        _heli_stab_col_high;            // collective pitch setting at mid-high throttle input in Stabilize mode
    AP_Int16        _heli_stab_col_max;             // maximum collective pitch setting at full throttle input in Stabilize mode
    AP_Float        _acro_col_expo;                 // used to soften collective pitch inputs near center point in Acro mode

};