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/**
 * @file ActuatorEffectivenessStandardVTOL.hpp
 *
 * Actuator effectiveness for standard VTOL
 *
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

#pragma once

#include "ActuatorEffectiveness.hpp"
#include "ActuatorEffectivenessRotors.hpp"
#include "ActuatorEffectivenessControlSurfaces.hpp"

#include <uORB/topics/normalized_unsigned_setpoint.h>


class ActuatorEffectivenessStandardVTOL : public ModuleParams, public ActuatorEffectiveness
{
public:
	ActuatorEffectivenessStandardVTOL(ModuleParams *parent);
	virtual ~ActuatorEffectivenessStandardVTOL() = default;

	bool getEffectivenessMatrix(Configuration &configuration, EffectivenessUpdateReason external_update) override;

	const char *name() const override { return "Standard VTOL"; }

	int numMatrices() const override { return 2; }

	void getDesiredAllocationMethod(AllocationMethod allocation_method_out[MAX_NUM_MATRICES]) const override
	{
		static_assert(MAX_NUM_MATRICES >= 2, "expecting at least 2 matrices");
		allocation_method_out[0] = AllocationMethod::SEQUENTIAL_DESATURATION;
		allocation_method_out[1] = AllocationMethod::PSEUDO_INVERSE;
	}

	void getNormalizeRPY(bool normalize[MAX_NUM_MATRICES]) const override
	{
		normalize[0] = true;
		normalize[1] = false;
	}

	void allocateAuxilaryControls(const float dt, int matrix_index, ActuatorVector &actuator_sp) override;

	void updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp, int matrix_index,
			    ActuatorVector &actuator_sp, const matrix::Vector<float, NUM_ACTUATORS> &actuator_min,
			    const matrix::Vector<float, NUM_ACTUATORS> &actuator_max) override;

	void setFlightPhase(const FlightPhase &flight_phase) override;

private:
	ActuatorEffectivenessRotors _rotors;
	ActuatorEffectivenessControlSurfaces _control_surfaces;

	uint32_t _upwards_motors_mask{};
	uint32_t _forwards_motors_mask{};

	int _first_control_surface_idx{0}; ///< applies to matrix 1

	uORB::Subscription _flaps_setpoint_sub{ORB_ID(flaps_setpoint)};
	uORB::Subscription _spoilers_setpoint_sub{ORB_ID(spoilers_setpoint)};
};