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/**
 * @file FlightTaskManualPosition.cpp
 */

#include "FlightTaskManualPosition.hpp"
#include <mathlib/mathlib.h>
#include <float.h>

using namespace matrix;

void FlightTaskManualPosition::_scaleSticks()
{
	/* Use same scaling as for FlightTaskManualAltitude */
	FlightTaskManualAltitude::_scaleSticks();

	/* Constrain length of stick inputs to 1 for xy*/
	Vector2f stick_xy(_sticks_expo(0), _sticks_expo(1));

	float mag = math::constrain(stick_xy.length(), 0.0f, 1.0f);

	if (mag > FLT_EPSILON) {
		stick_xy = stick_xy.normalized() * mag;
	}

	// scale velocity to its maximum lmits
	Vector2f vel_sp_xy = stick_xy * _limits.speed_NE_max;

	/* Rotate setpoint into local frame. */
	_rotateIntoHeadingFrame(vel_sp_xy);
	_velocity_setpoint(0) = vel_sp_xy(0);
	_velocity_setpoint(1) = vel_sp_xy(1);
}

void FlightTaskManualPosition::_updateXYlock()
{
	/* If position lock is not active, position setpoint is set to NAN.*/
	const float vel_xy_norm = Vector2f(&_velocity(0)).length();
	const bool apply_brake = Vector2f(&_velocity_setpoint(0)).length() < FLT_EPSILON;
	const bool stopped = (MPC_HOLD_MAX_XY.get() < FLT_EPSILON || vel_xy_norm < MPC_HOLD_MAX_XY.get());

	if (apply_brake && stopped && !PX4_ISFINITE(_position_setpoint(0))) {
		_position_setpoint(0) = _position(0);
		_position_setpoint(1) = _position(1);

	} else if (!apply_brake) {
		/* don't lock*/
		_position_setpoint(0) = NAN;
		_position_setpoint(1) = NAN;
	}
}

void FlightTaskManualPosition::_updateSetpoints()
{
	FlightTaskManualAltitude::_updateSetpoints(); // needed to get yaw and setpoints in z-direction
	_thrust_setpoint *= NAN; // don't require any thrust setpoints
	_updateXYlock(); // check for position lock
}

void FlightTaskManualPosition::_updateSetpointLimits()
{
	FlightTaskManualAltitude::_updateSetpointLimits();

	if (_limits.speed_NE_max >= MPC_VEL_MANUAL.get()) {
		_limits.speed_NE_max = MPC_VEL_MANUAL.get();
	}
}