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 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file FlightTaskFailsafe.cpp
 */

#include "FlightTaskFailsafe.hpp"

bool FlightTaskFailsafe::activate()
{
	bool ret = FlightTask::activate();
	_position_setpoint = _position;
	_velocity_setpoint.zero();
	_thrust_setpoint = matrix::Vector3f(0.0f, 0.0f, -MPC_THR_HOVER.get() * 0.6f);
	_yaw_setpoint = _yaw;
	_yawspeed_setpoint = 0.0f;
	return ret;
}

bool FlightTaskFailsafe::update()
{
	if (PX4_ISFINITE(_position(0)) && PX4_ISFINITE(_position(1))) {
		// stay at current position setpoint
		_velocity_setpoint(0) = _velocity_setpoint(1) = 0.0f;
		_thrust_setpoint(0) = _thrust_setpoint(1) = 0.0f;

	} else if (PX4_ISFINITE(_velocity(0)) && PX4_ISFINITE(_velocity(1))) {
		// don't move along xy
		_position_setpoint(0) = _position_setpoint(1) = NAN;
		_thrust_setpoint(0) = _thrust_setpoint(1) = NAN;
	}

	if (PX4_ISFINITE(_position(2))) {
		// stay at current altitude setpoint
		_velocity_setpoint(2) = 0.0f;
		_thrust_setpoint(2) = NAN;

	} else if (PX4_ISFINITE(_velocity(2))) {
		// land with landspeed
		_velocity_setpoint(2) = MPC_LAND_SPEED.get();
		_position_setpoint(2) = NAN;
		_thrust_setpoint(2) = NAN;
	}

	return true;

}