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/**
 * @file FlightTaskManualPosition.cpp
 */

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

using namespace matrix;

FlightTaskManualPosition::FlightTaskManualPosition(control::SuperBlock *parent, const char *name) :
	FlightTaskManualAltitude(parent, name),
	_vel_xy_manual_max(parent, "MPC_VEL_MANUAL", false),
	_acc_xy_max(parent, "MPC_ACC_HOR_MAX", false),
	_vel_hold_thr_xy(parent,  "MPC_HOLD_MAX_XY", false)
{}

bool FlightTaskManualPosition::activate()
{
	bool ret = FlightTaskManualAltitude::activate();
	_vel_sp(0) = _vel_sp(1) = 0.0f;
	return ret;
}

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

	/* Constrain length of stick inputs to 1 for xy*/
	matrix::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 to velocity.*/
	matrix::Vector2f vel_sp_xy = stick_xy * _vel_xy_manual_max.get();

	/* Rotate setpoint into local frame. */
	matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), _yaw);
	matrix::Vector3f vel_world = q_yaw.conjugate(matrix::Vector3f(vel_sp_xy(0), vel_sp_xy(1), 0.0f));
	_vel_sp(0) = vel_world(0);
	_vel_sp(1) = vel_world(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(&_vel_sp(0)).length() < FLT_EPSILON;
	const bool stopped = (_vel_hold_thr_xy.get() < FLT_EPSILON || vel_xy_norm < _vel_hold_thr_xy.get());

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

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

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