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/**
 * @file FlightTaskOrbit.cpp
 */

#include "FlightTaskOrbit.hpp"
#include <mathlib/mathlib.h>

using namespace matrix;

FlightTaskOrbit::FlightTaskOrbit(control::SuperBlock *parent, const char *name) :
	FlightTaskManual(parent, name)
{
	_sticks_data_required = false;
}

bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
{
	const float &r = command.param3; /**< commanded radius */
	const float &v = command.param4; /**< commanded velocity */

	if (math::isInRange(r, 5.f, 50.f) && fabs(v) < 10.f) {
		_r = r;
		_v = v;
		return FlightTaskManual::applyCommandParameters(command);
	}

	return false;
}

bool FlightTaskOrbit::activate()
{
	bool ret = FlightTaskManual::activate();
	_r = 1.f;
	_v =  0.5f;
	_z = _position(2);
	_center = Vector2f(_position.data());
	_center(0) -= _r;
	return ret;
}

bool FlightTaskOrbit::update()
{
	_r += _sticks_expo(0) * _deltatime;
	_r = math::constrain(_r, 1.f, 20.f);
	_v -= _sticks_expo(1) * _deltatime;
	_v = math::constrain(_v, -7.f, 7.f);
	_z += _sticks_expo(2) * _deltatime;

	Vector2f center_to_position = Vector2f(_position.data()) - _center;

	/* xy velocity to go around in a circle */
	Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
	velocity_xy = velocity_xy.unit_or_zero();
	velocity_xy *= _v;

	/* xy velocity adjustment to stay on the radius distance */
	velocity_xy += (_r - center_to_position.norm()) * center_to_position.unit_or_zero();

	float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;

	_setPositionSetpoint(Vector3f(NAN, NAN, _z));
	_setVelocitySetpoint(Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
	_setYawSetpoint(yaw);
	return true;
}