HorizontalControlIF.h

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#ifndef HORIZONTALCONTROLIF_H_
#define HORIZONTALCONTROLIF_H_

#include "data/ElementURI.h"

namespace HorizontalControlIF
{
static const Str NAME( "HorizontalControl" );

// Include common ConfigURIs -- must be in namespace and follow definition of NAME
#include "component/HasLoadAtStartupIF.h"

static const DataURI HORIZONTAL_MODE( NAME, "horizontalMode", Units::ENUM );
static const DataURI LATITUDE_CMD( NAME, "latitudeCmd", Units::DEGREE, DOUBLE6 );
static const DataURI LONGITUDE_CMD( NAME, "longitudeCmd", Units::DEGREE, DOUBLE6 );
static const DataURI HEADING_CMD( NAME, "headingCmd", Units::RADIAN );
static const DataURI HEADING_RATE_CMD( NAME, "headingRateCmd", Units::RADIAN_PER_SECOND );
static const DataURI RUDDER_ANGLE_CMD( NAME, "rudderAngleCmd", Units::RADIAN );
static const DataURI BEARING_CMD( NAME, "bearingCmd", Units::RADIAN );

static const ConfigURI KD_HEADING_CFG( NAME, "kdHeading", Units::SECOND );                         // Derivative gain
static const ConfigURI KI_HEADING_CFG( NAME, "kiHeading", Units::RECIPROCAL_SECOND );              // Integral gain
static const ConfigURI KP_HEADING_CFG( NAME, "kpHeading", Units::RATIO );                          // Proportional gain
static const ConfigURI KWP_HEADING_CFG( NAME, "kwpHeading", Units::RADIAN_PER_METER );             // Cross-track error gain
static const ConfigURI KIWP_HEADING_CFG( NAME, "kiwpHeading", Units::RADIAN_PER_SECOND_PER_METER ); // Cross-track integral error gain
static const ConfigURI MAX_HDG_ACCEL_CFG( NAME, "maxHdgAccel", Units::RADIAN_PER_SECOND_SQUARED ); // Max turn accel
static const ConfigURI MAX_HDG_INT_CFG( NAME, "maxHdgInt", Units::RADIAN );                        // Max cmded rudder from hdg int
static const ConfigURI MAX_HDG_RATE_CFG( NAME, "maxHdgRate", Units::RADIAN_PER_SECOND );           // Max turn rate
static const ConfigURI MAX_KXTE_CFG( NAME, "maxKxte", Units::RADIAN );                             // Max heading correction due to kwpHeading
static const ConfigURI RUD_DEADBAND_CFG( NAME, "rudDeadband", Units::RADIAN );                     // Degree of rounding in output values
static const ConfigURI RUD_LIMIT_CFG( NAME, "rudLimit", Units::RADIAN );                           // Max rudder angle

static const DataURI HEADING_INTERNAL( NAME, "headingInternal", Units::RADIAN );
static const DataURI SMOOTH_HEADING_INTERNAL( NAME, "smoothHeadingInternal", Units::RADIAN );
static const DataURI HEADING_INTEGRAL_INTERNAL( NAME, "headingIntegralInternal", Units::RADIAN );
static const DataURI XTE_INTEGRAL_INTERNAL( NAME, "xteIntegralInternal", Units::RADIAN );
static const DataURI BEARING_INTERNAL( NAME, "bearingInternal", Units::RADIAN );
static const DataURI XTE_INTERNAL( NAME, "xteInternal", Units::METER );
static const DataURI KXTE_INTERNAL( NAME, "kxteInternal", Units::RADIAN );

static const DataURI RUDDER_ANGLE_ACTION( NAME, "rudderAngleAction", Units::RADIAN );

typedef enum
{
    NONE,         // Heading is not controlled
    WAYPOINT,     // Proceed towards the specified waypoint
    HEADING,      // Maintain the specified heading
    HEADING_RATE, // Maintain a specified heading rate
    RUDDER_ANGLE, // Maintain a specified rudder angle
} HorizontalMode;

} // namespace HorizontalControlIF

#endif /*HORIZONTALCONTROLIF_H_*/