#pragma once

#include <AP_AHRS/AP_AHRS.h>
#include <AP_Common/AP_Common.h>
#include <AP_Vehicle/AP_Vehicle.h>
#include "AP_AutoTune.h"
#include <AP_Logger/AP_Logger.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PID.h>

class AP_PitchController {
public:
    AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms);

    /* Do not allow copies */
    AP_PitchController(const AP_PitchController &other) = delete;
    AP_PitchController &operator=(const AP_PitchController&) = delete;

	int32_t get_rate_out(float desired_rate, float scaler);
	int32_t get_servo_out(int32_t angle_err, float scaler, bool disable_integrator);

	void reset_I();

    /*
      reduce the integrator, used when we have a low scale factor in a quadplane hover
    */
    void decay_I() {
        // this reduces integrator by 95% over 2s
        _pid_info.I *= 0.995f;
        rate_pid.set_integrator(rate_pid.get_i() * 0.995);
    }
    
    void autotune_start(void);
    void autotune_restore(void);

    const       AP_Logger::PID_Info& get_pid_info(void) const { return _pid_info; }

	static const struct AP_Param::GroupInfo var_info[];

    AP_Float &kP(void) { return rate_pid.kP(); }
    AP_Float &kI(void) { return rate_pid.kI(); }
    AP_Float &kD(void) { return rate_pid.kD(); }
    AP_Float &kFF(void) { return rate_pid.ff(); }

    void convert_pid();

private:
    const AP_Vehicle::FixedWing &aparm;
    AP_AutoTune::ATGains gains;
    AP_AutoTune *autotune;
    bool failed_autotune_alloc;
	AP_Int16 _max_rate_neg;
	AP_Float _roll_ff;
	uint32_t _last_t;
    float _last_out;
    AC_PID rate_pid{0.04, 0.15, 0, 0.345, 0.666, 1.5, 7, 4, 0.02, 150, 1};
    float angle_err_deg;

    AP_Logger::PID_Info _pid_info;

    int32_t _get_rate_out(float desired_rate, float scaler, bool disable_integrator, float aspeed);
    float   _get_coordination_rate_offset(float &aspeed, bool &inverted) const;

    AP_AHRS &_ahrs;
};