/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

/*
 * control_acro.pde - init and run calls for acro flight mode
 */

// acro_init - initialise acro controller
static bool acro_init(bool ignore_checks)
{
    // clear stabilized rate errors
    attitude_control.init_targets();
    return true;
}

// acro_run - runs the acro controller
// should be called at 100hz or more
static void acro_run()
{
    float target_roll, target_pitch, target_yaw;
    int16_t pilot_throttle_scaled;

    // if motors not running reset angle targets
    if(!motors.armed() || g.rc_3.control_in <= 0) {
        attitude_control.init_targets();
        attitude_control.set_throttle_out(0, false);
        return;
    }

    // convert the input to the desired body frame rate
    get_pilot_desired_angle_rates(g.rc_1.control_in, g.rc_2.control_in, g.rc_4.control_in, target_roll, target_pitch, target_yaw);

    // get pilot's desired throttle
    pilot_throttle_scaled = get_pilot_desired_throttle(g.rc_3.control_in);

    // run attitude controller
    attitude_control.ratebf_rpy(target_roll, target_pitch, target_yaw);

    // output pilot's throttle without angle boost
    attitude_control.set_throttle_out(pilot_throttle_scaled, false);
}


// get_pilot_desired_angle_rates - transform pilot's roll pitch and yaw input into a desired lean angle rates
// returns desired angle rates in centi-degrees-per-second
static void get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int16_t yaw_in, float &roll_out, float &pitch_out, float &yaw_out)
{

    // Calculate trainer mode earth frame rate command for roll
    float rate_limit;
    Vector3f rate_ef_level, rate_bf_level, rate_bf_request;

    // calculate rate requests
    rate_bf_request.x = roll_in * g.acro_rp_p;
    rate_bf_request.y = pitch_in * g.acro_rp_p;
    rate_bf_request.z = yaw_in * g.acro_yaw_p;
    // todo: add acceleration slew

    // calculate earth frame rate corrections to pull the copter back to level while in ACRO mode

    if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
        // Calculate trainer mode earth frame rate command for roll
        int32_t roll_angle = wrap_180_cd(ahrs.roll_sensor);
        rate_ef_level.x = -constrain_int32(roll_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_roll;

        // Calculate trainer mode earth frame rate command for pitch
        int32_t pitch_angle = wrap_180_cd(ahrs.pitch_sensor);
        rate_ef_level.y = -constrain_int32(pitch_angle, -ACRO_LEVEL_MAX_ANGLE, ACRO_LEVEL_MAX_ANGLE) * g.acro_balance_pitch;

        // Calculate trainer mode earth frame rate command for yaw
        rate_ef_level.z = 0;

        // Calculate angle limiting earth frame rate commands
        if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
            if (roll_angle > aparm.angle_max){
                rate_ef_level.x -=  g.pi_stabilize_roll.get_p(roll_angle-aparm.angle_max);
            }else if (roll_angle < -aparm.angle_max) {
                rate_ef_level.x -=  g.pi_stabilize_roll.get_p(roll_angle+aparm.angle_max);
            }

            if (pitch_angle > aparm.angle_max){
                rate_ef_level.y -=  g.pi_stabilize_pitch.get_p(pitch_angle-aparm.angle_max);
            }else if (pitch_angle < -aparm.angle_max) {
                rate_ef_level.y -=  g.pi_stabilize_pitch.get_p(pitch_angle+aparm.angle_max);
            }
        }

        // convert earth-frame level rates to body-frame level rates
        attitude_control.rate_ef_targets_to_bf(rate_ef_level, rate_bf_level);

        // combine earth frame rate corrections with rate requests
        if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
            rate_bf_request.x += rate_bf_level.x;
            rate_bf_request.y += rate_bf_level.y;
            rate_bf_request.z += rate_bf_level.z;
        }else{
            acro_level_mix = constrain_float(1-max(max(abs(roll_in), abs(pitch_in)), abs(yaw_in))/4500.0, 0, 1)*ahrs.cos_pitch();

            // Scale leveling rates by stick input
            rate_bf_level = rate_bf_level*acro_level_mix;

            // Calculate rate limit to prevent change of rate through inverted
            rate_limit = fabs(fabs(rate_bf_request.x)-fabs(rate_bf_level.x));
            rate_bf_request.x += rate_bf_level.x;
            rate_bf_request.x = constrain_float(rate_bf_request.x, -rate_limit, rate_limit);

            // Calculate rate limit to prevent change of rate through inverted
            rate_limit = fabs(fabs(rate_bf_request.y)-fabs(rate_bf_level.y));
            rate_bf_request.y += rate_bf_level.y;
            rate_bf_request.y = constrain_float(rate_bf_request.y, -rate_limit, rate_limit);

            // Calculate rate limit to prevent change of rate through inverted
            rate_limit = fabs(fabs(rate_bf_request.z)-fabs(rate_bf_level.z));
            rate_bf_request.z += rate_bf_level.z;
            rate_bf_request.z = constrain_float(rate_bf_request.z, -rate_limit, rate_limit);
        }
    }

    // hand back rate request
    roll_out = rate_bf_request.x;
    pitch_out = rate_bf_request.y;
    yaw_out = rate_bf_request.z;
}