Better routing

Logic/FlightController.hpp

@@ -18,24 +18,43 @@ struct ReportedDeviceState {
 };
 
 struct FlightParams {
-    float height;         // [cm]
-    float yaw;      // [degrees]
-    float pitch;  // [degrees]
+    float height;  // [cm]
+    float yaw;     // [degrees]
+    float pitch;   // [degrees]
+};
+
+struct PidSettings {
+    float p;
+    float i;
+    float d;
 };
 
 class FlightController {
   public:
-    FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2, PIDController *pid3, bool unlimitedBattery = false);
+    FlightController(Sensors *sensors, PIDController *pid1, PIDController *pid2,
+                     PIDController *pid3, bool unlimitedBattery = false);
     ~FlightController();
     ReportedDeviceState currentDeviceState() const;
-    void startTakeoff(OnMeasuringFinishedCb onTakeoffStarted);
+    void startTakeoff();
     void startBoarding();
     void startImuCalibration();
     void tick();
+    [[deprecated]] void moveToFlightHeight(float newFlightHeight);  //[cm]
+    [[deprecated]] void newFlightHeightStickPosition(int16_t newFlightHeightStickPostition);
+    [[deprecated]] void newYawStickPosition(int16_t newYawStickPostition);
+    [[deprecated]] void newPitchStickPosition(int16_t newPitchStickPostition);
+    void newRotor1Duty(uint32_t rotor1Duty);
+    void newRotor2Duty(uint32_t rotor2Duty);
+    void newRotor3Duty(uint32_t rotor3Duty);
+    void stopAllRotors();
+    void setPid1Params(float p, float i, float d);
+    void setPid2Params(float p, float i, float d);
+    void setPid3Params(float p, float i, float d);
+    PidSettings *pidSettings() const;
   private:
     void _updateBatteryCharge();
-    void _takeoff();
-    void _boarding();
+    [[deprecated]] void _takeoff();
+    [[deprecated]] void _boarding();
 
     Sensors *_sensors = nullptr;
     PIDController *_pid1 = nullptr;
@@ -50,5 +69,5 @@ class FlightController {
     static constexpr float _defaultHorizontAngle = 90.f;   // [degrees]
     static constexpr float _defaultStopMotorHeight = 5;    // [cm]
 
-    bool _unlimitedBattery = false; // for debug purposes
+    bool _unlimitedBattery = false;  // for debug purposes
 };