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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.
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 *    used to endorse or promote products derived from this software
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#include "ManualControl.hpp"

enum OverrideBits {
	OVERRIDE_AUTO_MODE_BIT = (1 << 0),
	OVERRIDE_OFFBOARD_MODE_BIT = (1 << 1),
	OVERRIDE_IGNORE_THROTTLE_BIT = (1 << 2)
};

void ManualControl::update()
{
	if (_manual_control_setpoint_sub.updated()) {
		manual_control_setpoint_s manual_control_setpoint;

		if (_manual_control_setpoint_sub.copy(&manual_control_setpoint)) {
			process(manual_control_setpoint);
		}
	}
}

void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
{
	_last_manual_control_setpoint = _manual_control_setpoint;
	_manual_control_setpoint = manual_control_setpoint;
}

bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_mode, const bool rc_available)
{
	const bool override_auto_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_AUTO_MODE_BIT)
					&& vehicle_control_mode.flag_control_auto_enabled;

	const bool override_offboard_mode = (_param_rc_override.get() & OverrideBits::OVERRIDE_OFFBOARD_MODE_BIT)
					    && vehicle_control_mode.flag_control_offboard_enabled;

	if (rc_available && (override_auto_mode || override_offboard_mode)) {
		const float minimum_stick_change = .01f * _param_com_rc_stick_ov.get();

		const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
				       || (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
				       || (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
		const bool throttle_moved =
			(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
		const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);

		if (rpy_moved || (use_throttle && throttle_moved)) {
			return true;
		}
	}

	return false;
}