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/**
 * @file output_rc.cpp
 * @author Leon Müller (thedevleon)
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "output_rc.h"

#include <uORB/topics/actuator_controls.h>
#include <px4_defines.h>


namespace vmount
{

OutputRC::OutputRC(const OutputConfig &output_config)
	: OutputBase(output_config)
{
}
OutputRC::~OutputRC()
{
	if (_actuator_controls_pub) {
		orb_unadvertise(_actuator_controls_pub);
	}
}

int OutputRC::update(const ControlData *control_data)
{
	if (control_data) {
		//got new command
		_retract_gimbal = control_data->gimbal_shutter_retract;
		_set_angle_setpoints(control_data);
	}

	_handle_position_update();

	hrt_abstime t = hrt_absolute_time();
	_calculate_output_angles(t);

	actuator_controls_s actuator_controls;
	actuator_controls.timestamp = hrt_absolute_time();
	// _angle_outputs are in radians, actuator_controls are in [-1, 1]
	actuator_controls.control[0] = (_angle_outputs[0] + _config.roll_offset) * _config.roll_scale;
	actuator_controls.control[1] = (_angle_outputs[1] + _config.pitch_offset) * _config.pitch_scale;
	actuator_controls.control[2] = (_angle_outputs[2] + _config.yaw_offset) * _config.yaw_scale;
	actuator_controls.control[3] = _retract_gimbal ? _config.gimbal_retracted_mode_value : _config.gimbal_normal_mode_value;

	int instance;
	orb_publish_auto(ORB_ID(actuator_controls_2), &_actuator_controls_pub, &actuator_controls,
			 &instance, ORB_PRIO_DEFAULT);

	_last_update = t;

	return 0;
}

void OutputRC::print_status()
{
	PX4_INFO("Output: AUX");
}

} /* namespace vmount */