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/**
 * @file FlightManualPositionSmooth.cpp
 */

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

using namespace matrix;

FlightTaskManualPositionSmooth::FlightTaskManualPositionSmooth(control::SuperBlock *parent, const char *name) :
	FlightTaskManualPosition(parent, name),
	_smoothingXY(matrix::Vector2f(&_velocity(0))),
	_smoothingZ(_velocity(2), _sticks(2))
{}


bool FlightTaskManualPositionSmooth::activate()
{
	_vel_sp_prev_z = _velocity(2);
	return FlightTaskManualPosition::activate();
}

void FlightTaskManualPositionSmooth::_updateSetpoints()
{
	/* Get yaw setpont, unsmoothed position setpoints */
	FlightTaskManualPosition::_updateSetpoints();

	/* Smooth velocity setpoint in xy */
	matrix::Vector2f vel(&_velocity(0));
	_smoothingXY.smoothVelocity(_vel_sp_xy, vel, _yaw, _yaw_rate_sp, _deltatime);

	/* Check for altitude lock*/
	_updateXYlock();

	/* Smooth velocity in z*/
	_smoothingZ.smoothVelFromSticks(_vel_sp_z, _deltatime);

	/* Check for altitude lock*/
	_updateAltitudeLock();

}