#include "Sub.h"


// Function that will read the radio data, limit servos and trigger a failsafe
// ----------------------------------------------------------------------------

void Sub::default_dead_zones()
{
    channel_roll->set_default_dead_zone(30);
    channel_pitch->set_default_dead_zone(30);
    channel_throttle->set_default_dead_zone(30);
    channel_yaw->set_default_dead_zone(40);
    channel_forward->set_default_dead_zone(30);
    channel_lateral->set_default_dead_zone(30);
}

void Sub::init_rc_in()
{
    channel_pitch    = RC_Channels::rc_channel(0);
    channel_roll     = RC_Channels::rc_channel(1);
    channel_throttle = RC_Channels::rc_channel(2);
    channel_yaw      = RC_Channels::rc_channel(3);
    channel_forward  = RC_Channels::rc_channel(4);
    channel_lateral  = RC_Channels::rc_channel(5);

    // set rc channel ranges
    channel_roll->set_angle(ROLL_PITCH_INPUT_MAX);
    channel_pitch->set_angle(ROLL_PITCH_INPUT_MAX);
    channel_yaw->set_angle(ROLL_PITCH_INPUT_MAX);
    channel_throttle->set_range(1000);
    channel_forward->set_angle(ROLL_PITCH_INPUT_MAX);
    channel_lateral->set_angle(ROLL_PITCH_INPUT_MAX);

    // force throttle trim to 1100
    channel_throttle->set_radio_trim(1100);
    channel_throttle->save_eeprom();

    //set auxiliary servo ranges
    //    g.rc_5.set_range(0,1000);
    //    g.rc_6.set_range(0,1000);
    //    g.rc_7.set_range(0,1000);
    //    g.rc_8.set_range(0,1000);

    // set default dead zones
    default_dead_zones();

#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
    // initialize rc input to 1500 on control channels (rather than 0)
    for (int i = 0; i < 7; i++) {
        if (i == 4) {
            hal.rcin->set_override(i, 1100); // Channel 5 mode selection
        } else {
            hal.rcin->set_override(i, 1500);
        }
    }
#endif
}

// init_rc_out -- initialise motors and check if pilot wants to perform ESC calibration
void Sub::init_rc_out()
{
    motors.set_update_rate(g.rc_speed);
    motors.set_loop_rate(scheduler.get_loop_rate_hz());
    motors.init((AP_Motors::motor_frame_class)g.frame_configuration.get(), (AP_Motors::motor_frame_type)0);
    motors.set_throttle_range(channel_throttle->get_radio_min(), channel_throttle->get_radio_max());

    // enable output to motors
    if (arming.rc_check()) {
        enable_motor_output();
    }

    // refresh auxiliary channel to function map
    SRV_Channels::update_aux_servo_function();
}

// enable_motor_output() - enable and output lowest possible value to motors
void Sub::enable_motor_output()
{
    // enable motors
    motors.enable();
    motors.output_min();
}