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/**
 * @file DobControl.cpp
 */

#include "DobControl.hpp"
#include <px4_platform_common/defines.h>

using namespace matrix;

void DobControl::setGains(const Vector3f &tau)
{
	_gain_tau = tau;
}

void DobControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
				     const Vector<bool, 3> &saturation_negative)
{
	_control_allocator_saturation_positive = saturation_positive;
	_control_allocator_saturation_negative = saturation_negative;
}

Vector3f DobControl::update(const Vector3f &rate,
			    const Vector3f actuator_sp, const float dt, const bool landed)
{
	// angular rates error
	Vector3f diff = differentiator(rate, dt);

	matrix::Vector3f integ_input = actuator_sp - diff;

	// update integral only if we are not landed
	if (!landed) {
		updateIntegral(integ_input, dt);
	}

	const matrix::Vector3f torque = integ_input + _input_rate;
	return torque;
}

Vector3f DobControl::differentiator(const matrix::Vector3f &input, const float dt)
{
	Vector3f output = (1 - _c0) * _prev_output + (_c0 / dt) * (input - _prev_input);
	_prev_input = input;
	_prev_output = output;
	return output;
}

void DobControl::updateIntegral(Vector3f &integ_input, const float dt)
{
	_input_rate = _input_rate + _gain_tau.emult(integ_input);

}

void DobControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
{
	rate_ctrl_status.rollspeed_integ = _input_rate(0);
	rate_ctrl_status.pitchspeed_integ = _input_rate(1);
	rate_ctrl_status.yawspeed_integ = _input_rate(2);
}