#include "Copter.h"

/*
 * Init and run calls for stabilize flight mode
 */

// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void Copter::ModeStabilize::run()
{
    float target_roll, target_pitch;
    float target_yaw_rate;

    // if not armed set throttle to zero and exit immediately
    if (!motors->armed() || ap.throttle_zero || !motors->get_interlock()) {
        zero_throttle_and_relax_ac();
        return;
    }

    // clear landing flag
    set_land_complete(false);

    motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);

    // apply SIMPLE mode transform to pilot inputs
    update_simple_mode();

    // convert pilot input to lean angles
    get_pilot_desired_lean_angles(target_roll, target_pitch, copter.aparm.angle_max, copter.aparm.angle_max);

    // get pilot's desired yaw rate
    target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

    // call attitude controller
    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);

    // body-frame rate controller is run directly from 100hz loop

    // output pilot's throttle
    attitude_control->set_throttle_out(get_pilot_desired_throttle(),
                                       true,
                                       g.throttle_filt);
}