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/**
 * @file Sticks.hpp
 *
 * Library abstracting stick input from manual_control_setpoint
 *
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include <px4_platform_common/module_params.h>
#include <matrix/matrix/math.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/topics/landing_gear.h>
#include <uORB/topics/manual_control_setpoint.h>

class Sticks : public ModuleParams
{
public:
	Sticks(ModuleParams *parent);
	~Sticks() = default;

	bool evaluateSticks(hrt_abstime now); ///< checks and sets stick inputs
	void applyGearSwitch(landing_gear_s &gear); ///< Sets gears according to switch
	bool isAvailable() { return _input_available; };
	const matrix::Vector<float, 4> &getPosition() { return _positions; };
	const matrix::Vector<float, 4> &getPositionExpo() { return _positions_expo; };

private:
	bool _input_available = false;
	matrix::Vector<float, 4> _positions; ///< unmodified manual stick inputs
	matrix::Vector<float, 4> _positions_expo; ///< modified manual sticks using expo function
	int _gear_switch_old = manual_control_setpoint_s::SWITCH_POS_NONE; ///< old switch state

	uORB::SubscriptionData<manual_control_setpoint_s> _sub_manual_control_setpoint{ORB_ID(manual_control_setpoint)};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::MPC_HOLD_DZ>) _param_mpc_hold_dz,
		(ParamFloat<px4::params::MPC_XY_MAN_EXPO>) _param_mpc_xy_man_expo,
		(ParamFloat<px4::params::MPC_Z_MAN_EXPO>) _param_mpc_z_man_expo,
		(ParamFloat<px4::params::MPC_YAW_EXPO>) _param_mpc_yaw_expo,
		(ParamFloat<px4::params::COM_RC_LOSS_T>) _param_com_rc_loss_t
	)
};