/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: @author Doug Weibel <douglas.weibel@colorado.edu>
 *           @author Lorenz Meier <lm@inf.ethz.ch>
 			 @author Thomas Gubler <thomasgubler@student.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/*
 * @file fixedwing_pos_control.h
 * Position control for fixed wing airframes.
 */

#ifndef FIXEDWING_POS_CONTROL_H_
#define FIXEDWING_POS_CONTROL_H_

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/actuator_controls.h>

#endif 


struct planned_path_segments_s {
	bool segment_type;
	double start_lat;			// Start of line or center of arc
	double start_lon;
	double end_lat;
	double end_lon;
	float radius;				// Radius of arc
	float arc_start_bearing;		// Bearing from center to start of arc
	float arc_sweep;				// Angle (radians) swept out by arc around center.  
								// Positive for clockwise, negative for counter-clockwise
};


float _wrap180(float bearing);
float _wrap360(float bearing);
float _wrapPI(float bearing);
float _wrap2PI(float bearing);

/* FIXEDWING_CONTROL_H_ */