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/**
 * @file FlightTaskManualAcceleration.cpp
 */

#include "FlightTaskManualAcceleration.hpp"

using namespace matrix;

FlightTaskManualAcceleration::FlightTaskManualAcceleration() :
	_stick_acceleration_xy(this)
{};

bool FlightTaskManualAcceleration::activate(const vehicle_local_position_setpoint_s &last_setpoint)
{
	bool ret = FlightTaskManualAltitudeSmoothVel::activate(last_setpoint);

	if (PX4_ISFINITE(last_setpoint.vx)) {
		_velocity_setpoint.xy() = Vector2f(last_setpoint.vx, last_setpoint.vy);

	} else {
		_velocity_setpoint.xy() = Vector2f(_velocity);
	}

	_stick_acceleration_xy.resetPosition();

	if (PX4_ISFINITE(last_setpoint.acceleration[0])) {
		_stick_acceleration_xy.resetAcceleration(Vector2f(last_setpoint.acceleration[0], last_setpoint.acceleration[1]));
	}

	return ret;
}

bool FlightTaskManualAcceleration::update()
{
	bool ret = FlightTaskManualAltitudeSmoothVel::update();

	_stick_yaw.generateYawSetpoint(_yawspeed_setpoint, _yaw_setpoint,
				       _sticks.getPositionExpo()(3) * math::radians(_param_mpc_man_y_max.get()), _yaw, _deltatime);
	_stick_acceleration_xy.generateSetpoints(_sticks.getPositionExpo().slice<2, 1>(0, 0), _yaw, _yaw_setpoint, _position,
			_deltatime);
	_stick_acceleration_xy.getSetpoints(_position_setpoint, _velocity_setpoint, _acceleration_setpoint);

	_constraints.want_takeoff = _checkTakeoff();
	return ret;
}

void FlightTaskManualAcceleration::_ekfResetHandlerPositionXY()
{
	if (PX4_ISFINITE(_position_setpoint(0))) {
		_position_setpoint(0) = _position(0);
		_position_setpoint(1) = _position(1);
	}
}

void FlightTaskManualAcceleration::_ekfResetHandlerVelocityXY()
{
	if (PX4_ISFINITE(_velocity_setpoint(0))) {
		_velocity_setpoint(0) = _velocity(0);
		_velocity_setpoint(1) = _velocity(1);
	}
}

void FlightTaskManualAcceleration::_ekfResetHandlerPositionZ()
{
	if (PX4_ISFINITE(_position_setpoint(2))) {
		_position_setpoint(2) = _position(2);
	}
}

void FlightTaskManualAcceleration::_ekfResetHandlerVelocityZ()
{
	if (PX4_ISFINITE(_velocity_setpoint(2))) {
		_velocity_setpoint(2) = _velocity(2);
	}
}

void FlightTaskManualAcceleration::_ekfResetHandlerHeading(float delta_psi)
{
	if (PX4_ISFINITE(_yaw_setpoint)) {
		_yaw_setpoint += delta_psi;
	}
}