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

/// @file	AP_MotorsOcta.h
/// @brief	Motor control class for Octacopters

#ifndef AP_MOTORSOCTA
#define AP_MOTORSOCTA

#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_MotorsMatrix.h>	// Parent Motors Matrix library

/// @class      AP_MotorsOcta 
class AP_MotorsOcta : public AP_MotorsMatrix {
public: 

	/// Constructor 
	AP_MotorsOcta( 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_MotorsMatrix(APM_version, rc_out, rc_roll, rc_pitch, rc_throttle, rc_yaw, speed_hz) {};

	// setup_motors - configures the motors for a quad
	virtual void setup_motors();

protected:

}; 

#endif  // AP_MOTORSOCTA