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/**
 * @file takeoff.cpp
 *
 * Helper class to Takeoff
 *
 * @author Lorenz Meier <lorenz@px4.io>
 */

#include "takeoff.h"
#include "navigator.h"
#include <px4_platform_common/events.h>

Takeoff::Takeoff(Navigator *navigator) :
	MissionBlock(navigator)
{
}

void
Takeoff::on_activation()
{
	set_takeoff_position();

	// reset cruising speed to default
	_navigator->reset_cruising_speed();
}

void
Takeoff::on_active()
{
	struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();

	if (rep->current.valid) {
		// reset the position
		set_takeoff_position();

	} else if (is_mission_item_reached_or_completed() && !_navigator->get_mission_result()->finished) {
		_navigator->get_mission_result()->finished = true;
		_navigator->set_mission_result_updated();
		_navigator->mode_completed(vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF);

		position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

		// set loiter item so position controllers stop doing takeoff logic
		if (_navigator->get_land_detected()->landed) {
			_mission_item.nav_cmd = NAV_CMD_IDLE;

		} else {
			if (pos_sp_triplet->current.valid) {
				setLoiterItemFromCurrentPositionSetpoint(&_mission_item);

			} else {
				setLoiterItemFromCurrentPosition(&_mission_item);
			}
		}

		mission_apply_limitation(_mission_item);

		mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);

		_navigator->set_position_setpoint_triplet_updated();
	}
}

void
Takeoff::set_takeoff_position()
{
	struct position_setpoint_triplet_s *rep = _navigator->get_takeoff_triplet();

	float abs_altitude = 0.0f;

	float min_abs_altitude;

	// TODO: review this, comments are talking about home pos, the validity is checked but the
	// current altitude is used instead. Also, the "else" case does not consider the current altitude at all.
	if (_navigator->home_alt_valid()) { //only use home position if it is valid
		min_abs_altitude = _navigator->get_global_position()->alt + _navigator->get_takeoff_min_alt();

	} else { //e.g. flow
		min_abs_altitude = _navigator->get_takeoff_min_alt();
	}

	// Use altitude if it has been set. If home position is invalid use min_abs_altitude
	events::LogLevel log_level = events::LogLevel::Disabled;

	if (rep->current.valid && PX4_ISFINITE(rep->current.alt) && _navigator->home_alt_valid()) {
		abs_altitude = rep->current.alt;

		// If the altitude suggestion is lower than home + minimum clearance, raise it and complain.
		if (abs_altitude < min_abs_altitude) {
			if (abs_altitude < min_abs_altitude - 0.1f) { // don't complain if difference is smaller than 10cm
				mavlink_log_critical(_navigator->get_mavlink_log_pub(),
						     "Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt());
				log_level = events::LogLevel::Warning;
			}

			abs_altitude = min_abs_altitude;
		}

	} else {
		// Use home + minimum clearance but only notify.
		abs_altitude = min_abs_altitude;
		mavlink_log_info(_navigator->get_mavlink_log_pub(),
				 "Using minimum takeoff altitude: %.2f m\t", (double)_navigator->get_takeoff_min_alt());
		log_level = events::LogLevel::Info;
	}

	if (log_level != events::LogLevel::Disabled) {
		events::send<float>(events::ID("navigator_takeoff_min_alt"), {log_level, events::LogInternal::Info},
				    "Using minimum takeoff altitude: {1:.2m}",
				    _navigator->get_takeoff_min_alt());
	}

	if (abs_altitude < _navigator->get_global_position()->alt) {
		// If the suggestion is lower than our current alt, let's not go down.
		abs_altitude = _navigator->get_global_position()->alt;
		mavlink_log_critical(_navigator->get_mavlink_log_pub(), "Already higher than takeoff altitude\t");
		events::send(events::ID("navigator_takeoff_already_higher"), {events::Log::Error, events::LogInternal::Info},
			     "Already higher than takeoff altitude (not descending)");
	}

	// set current mission item to takeoff
	set_takeoff_item(&_mission_item, abs_altitude);
	_navigator->get_mission_result()->finished = false;
	_navigator->set_mission_result_updated();
	reset_mission_item_reached();

	// convert mission item to current setpoint
	struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
	mission_apply_limitation(_mission_item);
	mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);

	pos_sp_triplet->previous.valid = false;
	pos_sp_triplet->current.yaw_valid = true;
	pos_sp_triplet->next.valid = false;

	if (rep->current.valid) {

		// Go on and check which changes had been requested
		if (PX4_ISFINITE(rep->current.yaw)) {
			pos_sp_triplet->current.yaw = rep->current.yaw;
		}

		// Set the current latitude and longitude even if they are NAN
		// NANs are handled in FlightTaskAuto.cpp
		pos_sp_triplet->current.lat = rep->current.lat;
		pos_sp_triplet->current.lon = rep->current.lon;

		// mark this as done
		memset(rep, 0, sizeof(*rep));
	}

	if (PX4_ISFINITE(pos_sp_triplet->current.lat) && PX4_ISFINITE(pos_sp_triplet->current.lon)) {
		_navigator->set_can_loiter_at_sp(true);

	} else {
		_navigator->set_can_loiter_at_sp(false);
	}

	_navigator->set_position_setpoint_triplet_updated();
}