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/**
 * @file WeatherVane.cpp
 * Weathervane controller.
 *
 */

#include "WeatherVane.hpp"
#include <mathlib/mathlib.h>


WeatherVane::WeatherVane() :
	ModuleParams(nullptr)
{
	_R_sp_prev = matrix::Dcmf();
}

void WeatherVane::update(const matrix::Quatf &q_sp_prev, float yaw)
{
	_R_sp_prev = matrix::Dcmf(q_sp_prev);
	_yaw = yaw;
}

float WeatherVane::get_weathervane_yawrate()
{
	// direction of desired body z axis represented in earth frame
	matrix::Vector3f body_z_sp(_R_sp_prev(0, 2), _R_sp_prev(1, 2), _R_sp_prev(2, 2));

	// rotate desired body z axis into new frame which is rotated in z by the current
	// heading of the vehicle. we refer to this as the heading frame.
	matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -_yaw);
	body_z_sp = R_yaw * body_z_sp;
	body_z_sp.normalize();

	float roll_sp = -asinf(body_z_sp(1));

	float roll_exceeding_treshold = 0.0f;
	float min_roll_rad = math::radians(_param_wv_roll_min.get());

	if (roll_sp > min_roll_rad) {
		roll_exceeding_treshold = roll_sp - min_roll_rad;

	} else if (roll_sp < -min_roll_rad) {
		roll_exceeding_treshold = roll_sp + min_roll_rad;

	}

	return math::constrain(roll_exceeding_treshold * _param_wv_gain.get(), -math::radians(_param_wv_yrate_max.get()),
			       math::radians(_param_wv_yrate_max.get()));
}