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/**
 * @file FlightManualStabilized.cpp
 *
 * Flight task for manual controlled attitude.
 * It generates thrust and yaw setpoints.
 * TODO: add thrust
 */

#include "FlightTaskManualStabilized.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
#include <lib/geo/geo.h>

using namespace matrix;

FlightTaskManualStabilized::FlightTaskManualStabilized(control::SuperBlock *parent, const char *name) :
	FlightTaskManual(parent, name),
	_yaw_rate_scaling(parent, "MPC_MAN_Y_MAX", false)
{}

bool FlightTaskManualStabilized::activate()
{
	_yaw_sp = _yaw;
	_yaw_rate_sp = 0.0f;
	return FlightTaskManual::activate();
}

void FlightTaskManualStabilized::_scaleSticks()
{
	/* Scale sticks to yaw and thrust using
	 * linear scale.
	 * TODO: add thrust */
	_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
}

void FlightTaskManualStabilized::_updateHeadingSetpoints()
{
	/* Yaw-lock depends on stick input. If not locked,
	 * yaw_sp is set to NAN.
	 * TODO: add yawspeed to get threshold.*/
	const bool stick_yaw_zero = fabsf(_sticks(3)) <= _stick_dz.get();

	if (stick_yaw_zero && !PX4_ISFINITE(_yaw_sp)) {
		_yaw_sp = _yaw;

	} else if (!stick_yaw_zero) {
		_yaw_sp = NAN;
	}
}

void FlightTaskManualStabilized::_updateThrustSetpoints()
{
	// TODO
}

void FlightTaskManualStabilized::_updateSetpoints()
{
	_updateHeadingSetpoints();
	//_updateThrustSetpoints();
}

bool FlightTaskManualStabilized::update()
{
	_scaleSticks(); // scales sticks linearly to yaw/yawspeed and thrust
	_updateSetpoints(); // applies yaw and position lock if required
	_setYawSetpoint(_yaw_sp);
	_setYawspeedSetpoint(_yaw_rate_sp);
	//_setThrustSetpoint(...) TODO

	return true;
}