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#include "ActuatorEffectivenessMCTilt.hpp"

using namespace matrix;

ActuatorEffectivenessMCTilt::ActuatorEffectivenessMCTilt(ModuleParams *parent)
	: ModuleParams(parent),
	  _mc_rotors(this, ActuatorEffectivenessRotors::AxisConfiguration::FixedUpwards, true),
	  _tilts(this)
{
}

bool
ActuatorEffectivenessMCTilt::getEffectivenessMatrix(Configuration &configuration,
		EffectivenessUpdateReason external_update)
{
	if (external_update == EffectivenessUpdateReason::NO_EXTERNAL_UPDATE) {
		return false;
	}

	// MC motors
	_mc_rotors.enablePropellerTorque(!_tilts.hasYawControl());
	const bool rotors_added_successfully = _mc_rotors.addActuators(configuration);

	// Tilts
	int first_tilt_idx = configuration.num_actuators_matrix[0];
	_tilts.updateTorqueSign(_mc_rotors.geometry());
	const bool tilts_added_successfully = _tilts.addActuators(configuration);

	// Set offset such that tilts point upwards when control input == 0 (trim is 0 if min_angle == -max_angle).
	// Note that we don't set configuration.trim here, because in the case of trim == +-1, yaw is always saturated
	// and reduced to 0 with the sequential desaturation method. Instead we add it after.
	_tilt_offsets.setZero();

	for (int i = 0; i < _tilts.count(); ++i) {
		float delta_angle = _tilts.config(i).max_angle - _tilts.config(i).min_angle;

		if (delta_angle > FLT_EPSILON) {
			float trim = -1.f - 2.f * _tilts.config(i).min_angle / delta_angle;
			_tilt_offsets(first_tilt_idx + i) = trim;
		}
	}

	return (rotors_added_successfully && tilts_added_successfully);
}

void ActuatorEffectivenessMCTilt::updateSetpoint(const matrix::Vector<float, NUM_AXES> &control_sp,
		int matrix_index, ActuatorVector &actuator_sp)
{
	actuator_sp += _tilt_offsets;
	// TODO: dynamic matrix update
}