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/**
 * @file output_mavlink.cpp
 * @author Leon Müller (thedevleon)
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "output_mavlink.h"

#include <math.h>

#include <uORB/topics/vehicle_command.h>
#include <px4_platform_common/defines.h>


namespace vmount
{

OutputMavlink::OutputMavlink(const OutputConfig &output_config)
	: OutputBase(output_config)
{
}

int OutputMavlink::update(const ControlData *control_data)
{
	vehicle_command_s vehicle_command{};
	vehicle_command.timestamp = hrt_absolute_time();
	vehicle_command.target_system = (uint8_t)_config.mavlink_sys_id;
	vehicle_command.target_component = (uint8_t)_config.mavlink_comp_id;

	if (control_data) {
		//got new command
		_set_angle_setpoints(control_data);

		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
		vehicle_command.timestamp = hrt_absolute_time();

		if (control_data->type == ControlData::Type::Neutral) {
			vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_NEUTRAL;

			vehicle_command.param5 = 0.0;
			vehicle_command.param6 = 0.0;
			vehicle_command.param7 = 0.0f;

		} else {
			vehicle_command.param1 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;

			vehicle_command.param5 = static_cast<double>(control_data->type_data.angle.frames[0]);
			vehicle_command.param6 = static_cast<double>(control_data->type_data.angle.frames[1]);
			vehicle_command.param7 = static_cast<float>(control_data->type_data.angle.frames[2]);
		}

		vehicle_command.param2 = control_data->stabilize_axis[0];
		vehicle_command.param3 = control_data->stabilize_axis[1];
		vehicle_command.param4 = control_data->stabilize_axis[2];

		_vehicle_command_pub.publish(vehicle_command);
	}

	_handle_position_update();

	hrt_abstime t = hrt_absolute_time();
	_calculate_output_angles(t);

	vehicle_command.timestamp = t;
	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;

	// vmount spec has roll, pitch on channels 0, 1, respectively; MAVLink spec has roll, pitch on channels 1, 0, respectively
	// vmount uses radians, MAVLink uses degrees
	vehicle_command.param1 = (_angle_outputs[1] + _config.pitch_offset) * M_RAD_TO_DEG_F;
	vehicle_command.param2 = (_angle_outputs[0] + _config.roll_offset) * M_RAD_TO_DEG_F;
	vehicle_command.param3 = (_angle_outputs[2] + _config.yaw_offset) * M_RAD_TO_DEG_F;
	vehicle_command.param7 = 2.0f; // MAV_MOUNT_MODE_MAVLINK_TARGETING;

	_vehicle_command_pub.publish(vehicle_command);

	_last_update = t;

	return 0;
}

void OutputMavlink::print_status()
{
	PX4_INFO("Output: Mavlink");
}

} /* namespace vmount */