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#ifndef COPTER_H
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#ifndef COPTER_H
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#define COPTER_H
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#define COPTER_H
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#include <string>
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#include <string>
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using namespace std;
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using namespace std;
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/**
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/**
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 * This file contains informations and configurations from the Mikrokopter
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 * This file contains informations and configurations from the Mikrokopter
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 */
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 */
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// version information for the serial connection
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// version information for the serial connection
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static const int VERSION_SERIAL_MAJOR = 10;
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#define VERSION_SERIAL_MAJOR 10
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static const int VERSION_SERIAL_MINOR = 0;
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#define VERSION_SERIAL_MINOR 0
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// Basis-Adresses for different Hardware components
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// Basis-Adresses for different hardware components
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static const int ADDRESS_ALL    = 0;
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#define ADDRESS_ALL 0
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static const int ADDRESS_FC     = 1;
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#define ADDRESS_FC 1
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static const int ADDRESS_NC     = 2;
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#define ADDRESS_NC 2
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#define ADDRESS_MK3MAG 3
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//maximum amount of motors
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static const int ADDRESS_MK3MAG = 3;
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#define MAX_MOTORS 12
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// settings ID
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// settings ID
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static const int SETTINGS_ID = 2;
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#define SETTINGS_ID 2
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static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"};
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static const string HardwareType[] = {"Default", "FlightCtrl", "NaviCtrl", "MK3Mag"};
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static const int MaxTickerEvents = 5;
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static const int MaxTickerEvents = 5;
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static const int MaxAnalog    = 32;
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static const int MaxAnalog    = 32;
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static const int MaxPlot      = 50000;
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static const int MaxPlot      = 50000;
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static const int MaxNaviPos   = 2000;
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static const int MaxNaviPos   = 2000;
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struct sMotor
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{
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    int Speed[12];
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};
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struct MotorData
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struct sMotorData
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{
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    int mixer_gas[MAX_MOTORS];
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    int mixer_nick[MAX_MOTORS];
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{
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    int mixer_roll[MAX_MOTORS];
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    int mixer_yaw[MAX_MOTORS];
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    int motor[16][4];
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    int desired_speed[MAX_MOTORS];
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    string mixerName;
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    string mixer_name;
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    int mixerVersion;
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    int mixer_version;
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};
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};
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struct sMode
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struct sMode
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{
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{
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    int ID;
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    int id;
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    int VERSION_MAJOR;
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    int version_major;
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    int VERSION_MINOR;
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    int version_minor;
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    int VERSION_PATCH;
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    int version_patch;
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    int VERSION_SERIAL_MAJOR;
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    int version_serial_major;
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    int VERSION_SERIAL_MINOR;
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    int version_serial_minor;
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    string Hardware;
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    string hardware;
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    string Version;
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    string version;
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};
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};
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struct sGPS_Pos
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struct sGPS_Pos
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{
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{
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    long Longitude;
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    long Longitude;
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    long Latitude;
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    long Latitude;
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    long Altitude;
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    long Altitude;
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};
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};
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struct sNaviData
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struct sNaviData
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{
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{
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    sGPS_Pos Current;
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    sGPS_Pos Current;
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    sGPS_Pos Target;
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    sGPS_Pos Target;
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    sGPS_Pos Home;
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    sGPS_Pos Home;
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    long Longitude;
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    long Longitude;
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    long Latitude;
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    long Latitude;
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    long Altitude;
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    long Altitude;
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};
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};
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struct sWayPoint
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struct sWayPoint
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{
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{
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    double Longitude;
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    double Longitude;
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    double Latitude;
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    double Latitude;
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    double Altitude;
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    double Altitude;
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    int Time;
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    int Time;
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};
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};
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/**
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/**
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 * The KopterData class represents the current state of the MikroKopter.
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 * The KopterData class represents the current state of the MikroKopter.
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 * It containes all data that was sent from the Mikrokopter
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 * It containes all data that was sent from the Mikrokopter
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 */
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 */
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class KopterData {
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class KopterData {
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    public:
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    public:
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        sMode mode;
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        sMode mode;
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        sNaviData navi;
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        sNaviData navi;
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        sMotor motor;
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        sMotorData motor;
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        int analogData[MaxAnalog];
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        int analogData[MaxAnalog];
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        // current LCD page
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        // current LCD page
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        int lcd_cur;
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        int lcd_cur;
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        //max count of LCD pages
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        //max count of LCD pages
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        int lcd_max;
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        int lcd_max;
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};
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};
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#endif
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#endif