standard.h

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#ifndef STANDARD_H
#define STANDARD_H
#include "vtol_type.h"
#include <parameters/param.h>
#include <drivers/drv_hrt.h>

class Standard : public VtolType
{

public:

    Standard(VtolAttitudeControl *_att_controller);
    ~Standard() override = default;

    void update_vtol_state() override;
    void update_transition_state() override;
    void update_fw_state() override;
    void update_mc_state() override;
    void fill_actuator_outputs() override;
    void waiting_on_tecs() override;

private:

    struct {
        float pusher_ramp_dt;
        float back_trans_ramp;
        float down_pitch_max;
        float forward_thrust_scale;
        float pitch_setpoint_offset;
        float reverse_output;
        float reverse_delay;
    } _params_standard;

    struct {
        param_t pusher_ramp_dt;
        param_t back_trans_ramp;
        param_t down_pitch_max;
        param_t forward_thrust_scale;
        param_t pitch_setpoint_offset;
        param_t reverse_output;
        param_t reverse_delay;
    } _params_handles_standard;

    enum vtol_mode {
        MC_MODE = 0,
        TRANSITION_TO_FW,
        TRANSITION_TO_MC,
        FW_MODE
    };

    struct {
        vtol_mode flight_mode;          // indicates in which mode the vehicle is in
        hrt_abstime transition_start;   // at what time did we start a transition (front- or backtransition)
    } _vtol_schedule;

    float _pusher_throttle{0.0f};
    float _reverse_output{0.0f};
    float _airspeed_trans_blend_margin{0.0f};

    void parameters_update() override;
};
#endif