// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-

/// @file	AP_MotorsTri.h
/// @brief	Motor control class for Tricopters

#ifndef AP_MOTORSTRI
#define AP_MOTORSTRI

#include <FastSerial.h>
#include <AP_Common.h>
#include <AP_Math.h>        // ArduPilot Mega Vector/Matrix math Library
#include <RC_Channel.h>     // RC Channel Library
#include <APM_RC.h>         // ArduPilot Mega RC Library
#include <AP_Motors.h>

// tail servo uses channel 7
#define AP_MOTORS_CH_TRI_YAW	CH_7

/// @class      AP_MotorsTri 
class AP_MotorsTri : public AP_Motors { 
public: 

	/// Constructor 
	AP_MotorsTri( uint8_t APM_version, APM_RC_Class* rc_out, RC_Channel* rc_roll, RC_Channel* rc_pitch, RC_Channel* rc_throttle, RC_Channel* rc_yaw, uint16_t speed_hz = AP_MOTORS_SPEED_DEFAULT) : AP_Motors(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) {};

	// init
	virtual void Init();

	// set update rate to motors - a value in hertz or AP_MOTORS_SPEED_INSTANT_PWM for instant pwm
	void set_update_rate( uint16_t speed_hz );

	// enable - starts allowing signals to be sent to motors
	virtual void enable();

	// get basic information about the platform
	virtual uint8_t get_num_motors() { return 4; };	// 3 motors + 1 tail servo

	// motor test
	virtual void output_test();
 
 	// output_min - sends minimum values out to the motors
	virtual void output_min();

protected:
	// output - sends commands to the motors
	virtual void output_armed();
	virtual void output_disarmed();

}; 

#endif  // AP_MOTORSTRI