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#include <AP_HAL/AP_HAL.h>

// Common dependencies
#include <AP_Common/AP_Common.h>            // Common definitions and utility routines for the ArduPilot libraries
#include <AP_Common/Location.h>             // Library having the implementation of location class         
#include <AP_Param/AP_Param.h>              // A system for managing and storing variables that are of general interest to the system.
#include <StorageManager/StorageManager.h>  // library for Management for hal.storage to allow for backwards compatible mapping of storage offsets to available storage

// Application dependencies
#include <AP_Logger/AP_Logger.h>            // ArduPilot Mega Flash Memory Library
#include <AP_Math/AP_Math.h>                // ArduPilot Mega Vector/Matrix math Library
#include <AP_AccelCal/AP_AccelCal.h>        // interface and maths for accelerometer calibration
#include <AP_InertialSensor/AP_InertialSensor.h>                // ArduPilot Mega Inertial Sensor (accel & gyro) Library
#include <AP_AHRS/AP_AHRS.h>                                    // AHRS (Attitude Heading Reference System) interface library for ArduPilot
#include <AP_Mission/AP_Mission.h>                              // Mission command library
#include <AP_Mission/AP_Mission_ChangeDetector.h>               // Mission command change detection library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h>        // Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h>   // 6DoF Attitude control library
#include <AC_AttitudeControl/AC_AttitudeControl_Heli.h>         // Attitude control library for traditional helicopter
#include <AC_AttitudeControl/AC_PosControl.h>                   // Position control library
#include <AC_AttitudeControl/AC_CommandModel.h>                 // Command model library
#include <AP_Motors/AP_Motors.h>            // AP Motors library
#include <AP_Stats/AP_Stats.h>              // statistics library
#include <Filter/Filter.h>                  // Filter library
#include <AP_Vehicle/AP_Vehicle.h>          // needed for AHRS build
#include <AP_InertialNav/AP_InertialNav.h>  // inertial navigation library
#include <AC_WPNav/AC_WPNav.h>              // ArduCopter waypoint navigation library
#include <AC_WPNav/AC_Loiter.h>             // ArduCopter Loiter Mode Library
#include <AC_WPNav/AC_Circle.h>             // circle navigation library
#include <AP_Declination/AP_Declination.h>  // ArduPilot Mega Declination Helper Library
#include <AP_RCMapper/AP_RCMapper.h>        // RC input mapping library
#include <AP_BattMonitor/AP_BattMonitor.h>  // Battery monitor library
#include <AP_LandingGear/AP_LandingGear.h>  // Landing Gear library
#include <AC_InputManager/AC_InputManager.h>        // Pilot input handling library
#include <AC_InputManager/AC_InputManager_Heli.h>   // Heli specific pilot input handling library
#include <AP_Arming/AP_Arming.h>            // ArduPilot motor arming library
#include <AP_SmartRTL/AP_SmartRTL.h>        // ArduPilot Smart Return To Launch Mode (SRTL) library
#include <AP_TempCalibration/AP_TempCalibration.h>  // temperature calibration library
#include <AC_AutoTune/AC_AutoTune_Multi.h>  // ArduCopter autotune library. support for autotune of multirotors.
#include <AC_AutoTune/AC_AutoTune_Heli.h>   // ArduCopter autotune library. support for autotune of helicopters.
#include <AP_Parachute/AP_Parachute.h>      // ArduPilot parachute release library
#include <AC_Sprayer/AC_Sprayer.h>          // Crop sprayer library
#include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
#include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
#include <AC_PrecLand/AC_PrecLand_config.h>
#include <AP_OpticalFlow/AP_OpticalFlow.h>
#include <AP_Winch/AP_Winch_config.h>

// Configuration
#include "defines.h"
#include "config.h"

#if FRAME_CONFIG == HELI_FRAME
    #define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
    #define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif

#if FRAME_CONFIG == HELI_FRAME
 #define MOTOR_CLASS AP_MotorsHeli
#else
 #define MOTOR_CLASS AP_MotorsMulticopter
#endif

#if MODE_AUTOROTATE_ENABLED == ENABLED
 #include <AC_Autorotation/AC_Autorotation.h> // Autorotation controllers
#endif

#include "RC_Channel.h"         // RC Channel Library

#include "GCS_Mavlink.h"
#include "GCS_Copter.h"
#include "AP_Rally.h"           // Rally point library
#include "AP_Arming.h"

#include <AP_Beacon/AP_Beacon_config.h>
#if AP_BEACON_ENABLED
 #include <AP_Beacon/AP_Beacon.h>
#endif

#if AC_AVOID_ENABLED == ENABLED
 #include <AC_Avoidance/AC_Avoid.h>
#endif
#if AC_OAPATHPLANNER_ENABLED == ENABLED
 #include <AC_WPNav/AC_WPNav_OA.h>
 #include <AC_Avoidance/AP_OAPathPlanner.h>
#endif
#include <AP_Gripper/AP_Gripper_config.h>
#if AP_GRIPPER_ENABLED
 # include <AP_Gripper/AP_Gripper.h>
#endif
#if AC_PRECLAND_ENABLED
 # include <AC_PrecLand/AC_PrecLand.h>
 # include <AC_PrecLand/AC_PrecLand_StateMachine.h>
#endif
#if MODE_FOLLOW_ENABLED == ENABLED
 # include <AP_Follow/AP_Follow.h>
#endif
#if AP_TERRAIN_AVAILABLE
 # include <AP_Terrain/AP_Terrain.h>
#endif
#if RANGEFINDER_ENABLED == ENABLED
 # include <AP_RangeFinder/AP_RangeFinder.h>
#endif

#include <AP_Mount/AP_Mount.h>

#include <AP_Camera/AP_Camera.h>

#if HAL_BUTTON_ENABLED
 # include <AP_Button/AP_Button.h>
#endif

#if OSD_ENABLED || OSD_PARAM_ENABLED
 #include <AP_OSD/AP_OSD.h>
#endif

#if ADVANCED_FAILSAFE == ENABLED
 # include "afs_copter.h"
#endif
#if TOY_MODE_ENABLED == ENABLED
 # include "toy_mode.h"
#endif
#if AP_WINCH_ENABLED
 # include <AP_Winch/AP_Winch.h>
#endif
#include <AP_RPM/AP_RPM.h>

#if AP_SCRIPTING_ENABLED
#include <AP_Scripting/AP_Scripting.h>
#endif

#if AC_CUSTOMCONTROL_MULTI_ENABLED == ENABLED
#include <AC_CustomControl/AC_CustomControl.h>                  // Custom control library
#endif

#if AC_AVOID_ENABLED && !AP_FENCE_ENABLED
  #error AC_Avoidance relies on AP_FENCE_ENABLED which is disabled
#endif

#if AC_OAPATHPLANNER_ENABLED && !AP_FENCE_ENABLED
  #error AP_OAPathPlanner relies on AP_FENCE_ENABLED which is disabled
#endif

// Local modules
#ifdef USER_PARAMS_ENABLED
#include "UserParameters.h"
#endif
#include "Parameters.h"
#if HAL_ADSB_ENABLED
#include "avoidance_adsb.h"
#endif

#include "mode.h"

class Copter : public AP_Vehicle {
public:
    friend class GCS_MAVLINK_Copter;
    friend class GCS_Copter;
    friend class AP_Rally_Copter;
    friend class Parameters;
    friend class ParametersG2;
    friend class AP_Avoidance_Copter;

#if ADVANCED_FAILSAFE == ENABLED
    friend class AP_AdvancedFailsafe_Copter;
#endif
    friend class AP_Arming_Copter;
    friend class ToyMode;
    friend class RC_Channel_Copter;
    friend class RC_Channels_Copter;

    friend class AutoTune;

    friend class Mode;
    friend class ModeAcro;
    friend class ModeAcro_Heli;
    friend class ModeAltHold;
    friend class ModeAuto;
    friend class ModeAutoTune;
    friend class ModeAvoidADSB;
    friend class ModeBrake;
    friend class ModeCircle;
    friend class ModeDrift;
    friend class ModeFlip;
    friend class ModeFlowHold;
    friend class ModeFollow;
    friend class ModeGuided;
    friend class ModeLand;
    friend class ModeLoiter;
    friend class ModePosHold;
    friend class ModeRTL;
    friend class ModeSmartRTL;
    friend class ModeSport;
    friend class ModeStabilize;
    friend class ModeStabilize_Heli;
    friend class ModeSystemId;
    friend class ModeThrow;
    friend class ModeZigZag;
    friend class ModeAutorotate;
    friend class ModeTurtle;

    Copter(void);