/*
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

/** @file firmwares/rotorcraft/stabilization/stabilization_attitude.h
 *  General attitude stabilization interface for rotorcrafts.
 *  The actual implementation is automatically included.
 */

#ifndef STABILIZATION_ATTITUDE_H
#define STABILIZATION_ATTITUDE_H

#include "firmwares/rotorcraft/stabilization.h"
#include "math/pprz_algebra_int.h"
#include STABILIZATION_ATTITUDE_TYPE_H

extern void stabilization_attitude_init(void);
extern void stabilization_attitude_read_rc(bool_t in_flight, bool_t in_carefree, bool_t coordinated_turn);
extern void stabilization_attitude_enter(void);
extern void stabilization_attitude_set_failsafe_setpoint(void);
extern void stabilization_attitude_set_rpy_setpoint_i(struct Int32Eulers *rpy);
extern void stabilization_attitude_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading);
extern void stabilization_attitude_run(bool_t in_flight);


#endif /* STABILIZATION_ATTITUDE_H */
