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/**
 * @file FlightTaskManualPosition.cpp
 */

#include "FlightTaskManualPosition.hpp"
#include <mathlib/mathlib.h>
#include <float.h>
#include <lib/geo/geo.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_xy_dz(parent,  "MPC_HOLD_MAX_XY", false)
{}

bool FlightTaskManualPosition::activate()
{
	_pos_sp_xy = matrix::Vector2f(NAN, NAN);
	_vel_sp_xy = matrix::Vector2f(0.0f, 0.0f);
	return FlightTaskManualAltitude::activate();
}

void FlightTaskManualPosition::_scaleSticks()
{
	/* Use same scaling as for FlightTaskManualAltitude to
	 * get yaw and z */
	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.*/
	_vel_sp_xy = stick_xy * _vel_xy_manual_max.get();

	/* Rotate setpoint into local frame. */
	matrix::Vector3f vel_sp{_vel_sp_xy(0), _vel_sp_xy(1), 0.0f};
	vel_sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * vel_sp);
	_vel_sp_xy = matrix::Vector2f(vel_sp(0), vel_sp(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 = _vel_sp_xy.length() < FLT_EPSILON;
	const bool stopped = (_vel_xy_dz.get() < FLT_EPSILON || vel_xy_norm < _vel_xy_dz.get());

	if (apply_brake && stopped && !PX4_ISFINITE(_pos_sp_xy(0))) {
		_pos_sp_xy = matrix::Vector2f(&_position(0));

	} else if (!apply_brake) {
		_pos_sp_xy = _pos_sp_xy * NAN;
	}
}

void FlightTaskManualPosition::_updateSetpoints()
{
	FlightTaskManualAltitude::_updateSetpoints(); // get yaw and z setpoints
	_updateXYlock(); // check for position lock
}

bool FlightTaskManualPosition::update()
{
	_scaleSticks();
	_updateSetpoints();

	_setPositionSetpoint(Vector3f(_pos_sp_xy(0), _pos_sp_xy(1), _pos_sp_z));
	_setVelocitySetpoint(Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), _vel_sp_z));
	_setYawSetpoint(_yaw_sp);
	_setYawspeedSetpoint(_yaw_rate_sp);
	_setThrustSetpoint(Vector3f(NAN, NAN, NAN));


	return true;
}