JoyReference.h

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// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
#ifndef JOYREFERENCE_H
#define JOYREFERENCE_H

#include <IODevice.h>
#include <stdint.h>

namespace flair {
namespace core {
class Quaternion;
class AhrsData;
}
namespace gui {
class LayoutPosition;
}
}

class JoyReference_impl;

namespace flair {
namespace filter {
class JoyReference : public core::IODevice {
public:
  JoyReference(const gui::LayoutPosition *position, std::string name);

  ~JoyReference();

  void SetRollAxis(float value);

  void SetPitchAxis(float value);

  void SetYawAxis(float value);

  void SetAltitudeAxis(float value);

  core::AhrsData *GetReferenceOrientation(void) const;

  float ZRef(void) const;

  float DzRef(void) const;

  float RollTrim(void) const;

  float PitchTrim(void) const;

  void SetYawRef(float value);

  void SetYawRef(core::Quaternion const &value);

  void SetZRef(float value);

  void RollTrimUp(void);

  void RollTrimDown(void);

  void PitchTrimUp(void);

  void PitchTrimDown(void);

  void Update(core::Time time);

private:
  void UpdateFrom(const core::io_data *data);

  class JoyReference_impl *pimpl_;
};
} // end namespace sensor
} // end namespace flair

#endif // JOYREFERENCE_H