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#include "StickTiltXY.hpp"

#include <geo/geo.h>
#include "Sticks.hpp"

using namespace matrix;

StickTiltXY::StickTiltXY(ModuleParams *parent) :
	ModuleParams(parent)
{
	updateParams();
}

void StickTiltXY::updateParams()
{
	ModuleParams::updateParams();
	// Consider maximum tilt but only between [0.02,3]g sideways acceleration -> ~[1,71]° tilt
	// Constrain tilt already because tanf(90+°) will give negative result
	const float maximum_tilt = math::radians(math::constrain(_param_mpc_man_tilt_max.get(), 0.f, 89.f));
	_maximum_acceleration = math::constrain(tanf(maximum_tilt), .02f, 3.f) * CONSTANTS_ONE_G;
}

Vector2f StickTiltXY::generateAccelerationSetpoints(Vector2f stick_xy, const float dt, const float yaw,
		const float yaw_setpoint)
{
	Sticks::limitStickUnitLengthXY(stick_xy);
	_man_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
	stick_xy = _man_input_filter.update(stick_xy);
	Sticks::rotateIntoHeadingFrameXY(stick_xy, yaw, yaw_setpoint);
	return stick_xy * _maximum_acceleration;
}