/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#include <AC_WPNav.h>

extern const AP_HAL::HAL& hal;

const AP_Param::GroupInfo AC_WPNav::var_info[] PROGMEM = {
    // index 0 was used for the old orientation matrix

    // @Param: SPEED
    // @DisplayName: Waypoint Horizontal Speed Target
    // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain horizontally during a WP mission
    // @Units: cm/s
    // @Range: 0 2000
    // @Increment: 50
    // @User: Standard
    AP_GROUPINFO("SPEED",       0, AC_WPNav, _wp_speed_cms, WPNAV_WP_SPEED),

    // @Param: RADIUS
    // @DisplayName: Waypoint Radius
    // @Description: Defines the distance from a waypoint, that when crossed indicates the wp has been hit.
    // @Units: cm
    // @Range: 100 1000
    // @Increment: 1
    // @User: Standard
    AP_GROUPINFO("RADIUS",      1, AC_WPNav, _wp_radius_cm, WPNAV_WP_RADIUS),

    // @Param: SPEED_UP
    // @DisplayName: Waypoint Climb Speed Target
    // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while climbing during a WP mission
    // @Units: cm/s
    // @Range: 0 1000
    // @Increment: 50
    // @User: Standard
    AP_GROUPINFO("SPEED_UP",    2, AC_WPNav, _wp_speed_up_cms, WPNAV_WP_SPEED_UP),

    // @Param: SPEED_DN
    // @DisplayName: Waypoint Descent Speed Target
    // @Description: Defines the speed in cm/s which the aircraft will attempt to maintain while descending during a WP mission
    // @Units: cm/s
    // @Range: 0 1000
    // @Increment: 50
    // @User: Standard
    AP_GROUPINFO("SPEED_DN",    3, AC_WPNav, _wp_speed_down_cms, WPNAV_WP_SPEED_DOWN),

    // @Param: LOIT_SPEED
    // @DisplayName: Loiter Horizontal Maximum Speed
    // @Description: Defines the maximum speed in cm/s which the aircraft will travel horizontally while in loiter mode
    // @Units: cm/s
    // @Range: 0 2000
    // @Increment: 50
    // @User: Standard
    AP_GROUPINFO("LOIT_SPEED",  4, AC_WPNav, _loiter_speed_cms, WPNAV_LOITER_SPEED),

    // @Param: ACCEL
    // @DisplayName: Waypoint Acceleration 
    // @Description: Defines the horizontal acceleration in cm/s/s used during missions
    // @Units: cm/s/s
    // @Range: 0 980
    // @Increment: 10
    // @User: Standard
    AP_GROUPINFO("ACCEL",       5, AC_WPNav, _wp_accel_cms, WPNAV_ACCELERATION),

    AP_GROUPEND
};

// Default constructor.
// Note that the Vector/Matrix constructors already implicitly zero
// their values.
//
AC_WPNav::AC_WPNav(const AP_InertialNav* inav, const AP_AHRS* ahrs, AC_PosControl& pos_control) :
    _inav(inav),
    _ahrs(ahrs),
    _pos_control(pos_control),
    _loiter_last_update(0),
    _loiter_step(0),
    _pilot_accel_fwd_cms(0),
    _pilot_accel_rgt_cms(0),
    _loiter_accel_cms(WPNAV_LOITER_ACCEL_MAX),
    _wp_last_update(0),
    _wp_step(0),
    _track_length(0.0),
    _track_desired(0.0),
    _track_accel(0.0),
    _track_speed(0.0),
    _track_leash_length(0.0)
{
    AP_Param::setup_object_defaults(this, var_info);
}

///
/// loiter controller
///

/// set_loiter_target in cm from home
void AC_WPNav::set_loiter_target(const Vector3f& position)
{
	// set target position
	_pos_control.set_pos_target(_inav->get_position());

	// initialise feed forward velocity to zero
	_pos_control.set_desired_velocity(0,0);

	// initialise pos controller speed and acceleration
	_pos_control.set_speed_xy(_loiter_speed_cms);
    _pos_control.set_accel_xy(_loiter_accel_cms);

    // initialise pilot input
    _pilot_accel_fwd_cms = 0;
    _pilot_accel_rgt_cms = 0;
}

/// init_loiter_target - initialize's loiter position and feed-forward velocity from current pos and velocity
void AC_WPNav::init_loiter_target()
{
	Vector3f curr_vel = _inav->get_velocity();

	// set target position
    _pos_control.set_pos_target(_inav->get_position());

    // initialise feed forward velocities to zero
    _pos_control.set_desired_velocity(curr_vel.x, curr_vel.y);

    // initialise pos controller speed, acceleration and leash length
    // To-Do: will this cause problems for circle which calls this continuously?
    _pos_control.set_speed_xy(_loiter_speed_cms);
    _pos_control.set_accel_xy(_loiter_accel_cms);

    // initialise pilot input
    _pilot_accel_fwd_cms = 0;
    _pilot_accel_rgt_cms = 0;
}

/// set_pilot_desired_acceleration - sets pilot desired acceleration from roll and pitch stick input
void AC_WPNav::set_pilot_desired_acceleration(float control_roll, float control_pitch)
{
    // convert pilot input to desired acceleration in cm/s/s
    _pilot_accel_fwd_cms = -control_pitch * _loiter_accel_cms / 4500.0f;
    _pilot_accel_rgt_cms = control_roll * _loiter_accel_cms / 4500.0f;
}

/// get_loiter_stopping_point_xy - returns vector to stopping point based on a horizontal position and velocity
void AC_WPNav::get_loiter_stopping_point_xy(Vector3f& stopping_point) const
{
	_pos_control.get_stopping_point_xy(stopping_point);
}

/// calc_loiter_desired_velocity - updates desired velocity (i.e. feed forward) with pilot requested acceleration and fake wind resistance
///		updated velocity sent directly to position controller
void AC_WPNav::calc_loiter_desired_velocity(float nav_dt)
{
    // range check nav_dt
    if( nav_dt < 0 ) {
        return;
    }

    // check loiter speed and avoid divide by zero
    if( _loiter_speed_cms < 100.0f) {
        _loiter_speed_cms = 100.0f;
    }

    // rotate pilot input to lat/lon frame
    Vector2f desired_accel;
    desired_accel.x = (_pilot_accel_fwd_cms*_ahrs->cos_yaw() - _pilot_accel_rgt_cms*_ahrs->sin_yaw());
    desired_accel.y = (_pilot_accel_fwd_cms*_ahrs->sin_yaw() + _pilot_accel_rgt_cms*_ahrs->cos_yaw());

    // get pos_control's feed forward velocity
    Vector2f desired_vel = _pos_control.get_desired_velocity();

    // add pilot commanded acceleration
    desired_vel += desired_accel * nav_dt;

    // reduce velocity with fake wind resistance
    if(desired_vel.x > 0 ) {
    	desired_vel.x -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.x/_loiter_speed_cms;
    	desired_vel.x = max(desired_vel.x - WPNAV_LOITER_ACCEL_MIN*nav_dt, 0);
    }else if(desired_vel.x < 0) {
    	desired_vel.x -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.x/_loiter_speed_cms;
        desired_vel.x = min(desired_vel.x + WPNAV_LOITER_ACCEL_MIN*nav_dt, 0);
    }
    if(desired_vel.y > 0 ) {
    	desired_vel.y -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.y/_loiter_speed_cms;
        desired_vel.y = max(desired_vel.y - WPNAV_LOITER_ACCEL_MIN*nav_dt, 0);
    }else if(desired_vel.y < 0) {
    	desired_vel.y -= (_loiter_accel_cms-WPNAV_LOITER_ACCEL_MIN)*nav_dt*desired_vel.y/_loiter_speed_cms;
        desired_vel.y = min(desired_vel.y + WPNAV_LOITER_ACCEL_MIN*nav_dt, 0);
    }

    // constrain and scale the feed forward velocity if necessary
    float vel_total = safe_sqrt(desired_vel.x*desired_vel.x + desired_vel.y*desired_vel.y);
    if (vel_total > _loiter_speed_cms && vel_total > 0.0f) {
    	desired_vel.x = _loiter_speed_cms * desired_vel.x/vel_total;
    	desired_vel.y = _loiter_speed_cms * desired_vel.y/vel_total;
    }

    // send adjusted feed forward velocity back to position controller
    _pos_control.set_desired_velocity(desired_vel.x,desired_vel.y);
}

/// get_bearing_to_target - get bearing to loiter target in centi-degrees
int32_t AC_WPNav::get_loiter_bearing_to_target() const
{
    return get_bearing_cd(_inav->get_position(), _pos_control.get_pos_target());
}

/// update_loiter - run the loiter controller - should be called at 100hz
void AC_WPNav::update_loiter()
{
    // calculate dt
    uint32_t now = hal.scheduler->millis();
    float dt = (now - _loiter_last_update) / 1000.0f;

    // reset step back to 0 if 0.1 seconds has passed and we completed the last full cycle
    if (dt > 0.095f) {
        // double check dt is reasonable
        if (dt >= 1.0f) {
            dt = 0.0;
        }
            // capture time since last iteration
            _loiter_last_update = now;
            // translate any adjustments from pilot to loiter target
        calc_loiter_desired_velocity(dt);
        // trigger position controller on next update
        _pos_control.trigger_xy();
    }else{
            // run loiter's position to velocity step
            _pos_control.update_pos_controller(true);
    }
}


///
/// waypoint navigation
///

/// set_destination - set destination using cm from home
void AC_WPNav::set_wp_destination(const Vector3f& destination)
{
    // if waypoint controller is active and copter has reached the previous waypoint use it for the origin
    if( _flags.reached_destination && ((hal.scheduler->millis() - _wp_last_update) < 1000) ) {
        _origin = _destination;
    }else{
        // otherwise calculate origin from the current position and velocity
        _pos_control.get_stopping_point_xy(_origin);
        _pos_control.get_stopping_point_z(_origin);
    }

    // set origin and destination
    set_wp_origin_and_destination(_origin, destination);
}

/// set_origin_and_destination - set origin and destination using lat/lon coordinates
void AC_WPNav::set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination)
{
    // store origin and destination locations
    _origin = origin;
    _destination = destination;
    Vector3f pos_delta = _destination - _origin;

    _track_length = pos_delta.length(); // get track length

    // calculate each axis' percentage of the total distance to the destination
    if (_track_length == 0.0f) {
        // avoid possible divide by zero
        _pos_delta_unit.x = 0;
        _pos_delta_unit.y = 0;
        _pos_delta_unit.z = 0;
    }else{
        _pos_delta_unit = pos_delta/_track_length;
    }

    // initialise position controller speed and acceleration
    _pos_control.set_speed_xy(_wp_speed_cms);
    _pos_control.set_accel_xy(_wp_accel_cms);
    _pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
    _pos_control.calc_leash_length_xy();
    _pos_control.calc_leash_length_z();

    // calculate leash lengths
    calculate_wp_leash_length();

    // initialise intermediate point to the origin
    _pos_control.set_pos_target(origin);
    _track_desired = 0;             // target is at beginning of track
    _flags.reached_destination = false;
    _flags.fast_waypoint = false;   // default waypoint back to slow

    // initialise the limited speed to current speed along the track
    const Vector3f &curr_vel = _inav->get_velocity();
    // get speed along track (note: we convert vertical speed into horizontal speed equivalent)
    float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z;
    _limited_speed_xy_cms = constrain_float(speed_along_track,0,_wp_speed_cms);
}

/// get_wp_stopping_point_xy - returns vector to stopping point based on a horizontal position and velocity
void AC_WPNav::get_wp_stopping_point_xy(Vector3f& stopping_point) const
{
	_pos_control.get_stopping_point_xy(stopping_point);
}

/// advance_wp_target_along_track - move target location along track from origin to destination
void AC_WPNav::advance_wp_target_along_track(float dt)
{
    float track_covered;
    Vector3f track_error;
    float track_desired_max;
    float track_desired_temp = _track_desired;
    float track_extra_max;

    // get current location
    Vector3f curr_pos = _inav->get_position();
    Vector3f curr_delta = curr_pos - _origin;

    // calculate how far along the track we are
    track_covered = curr_delta.x * _pos_delta_unit.x + curr_delta.y * _pos_delta_unit.y + curr_delta.z * _pos_delta_unit.z;

    Vector3f track_covered_pos = _pos_delta_unit * track_covered;
    track_error = curr_delta - track_covered_pos;

    // calculate the horizontal error
    float track_error_xy = safe_sqrt(track_error.x*track_error.x + track_error.y*track_error.y);

    // calculate the vertical error
    float track_error_z = fabsf(track_error.z);

    // get position control leash lengths
    float leash_xy = _pos_control.get_leash_xy();
    float leash_z;
    if (track_error.z >= 0) {
        leash_z = _pos_control.get_leash_up_z();
    }else{
        leash_z = _pos_control.get_leash_down_z();
    }

    // calculate how far along the track we could move the intermediate target before reaching the end of the leash
    track_extra_max = min(_track_leash_length*(leash_z-track_error_z)/leash_z, _track_leash_length*(leash_xy-track_error_xy)/leash_xy);
    if(track_extra_max <0) {
        track_desired_max = track_covered;
    }else{
        track_desired_max = track_covered + track_extra_max;
    }

    // get current velocity
    const Vector3f &curr_vel = _inav->get_velocity();
    // get speed along track
    float speed_along_track = curr_vel.x * _pos_delta_unit.x + curr_vel.y * _pos_delta_unit.y + curr_vel.z * _pos_delta_unit.z;

    // calculate point at which velocity switches from linear to sqrt
    float linear_velocity = _wp_speed_cms;
    float kP = _pos_control.get_pos_xy_kP();
    if (kP >= 0.0f) {   // avoid divide by zero
        linear_velocity = _track_accel/kP;
    }

    // let the limited_speed_xy_cms be some range above or below current velocity along track
    if (speed_along_track < -linear_velocity) {
        // we are travelling fast in the opposite direction of travel to the waypoint so do not move the intermediate point
        _limited_speed_xy_cms = 0;
    }else{
        // increase intermediate target point's velocity if not yet at target speed (we will limit it below)
        if(dt > 0) {
            if(track_desired_max > _track_desired) {
                _limited_speed_xy_cms += 2.0f * _track_accel * dt;
            }else{
                // do nothing, velocity stays constant
                _track_desired = track_desired_max;
            }
        }
        // do not go over top speed
        if(_limited_speed_xy_cms > _track_speed) {
            _limited_speed_xy_cms = _track_speed;
        }
        // if our current velocity is within the linear velocity range limit the intermediate point's velocity to be no more than the linear_velocity above or below our current velocity
        if (fabsf(speed_along_track) < linear_velocity) {
            _limited_speed_xy_cms = constrain_float(_limited_speed_xy_cms,speed_along_track-linear_velocity,speed_along_track+linear_velocity);
        }
    }
    // advance the current target
    track_desired_temp += _limited_speed_xy_cms * dt;

    // do not let desired point go past the end of the segment
    track_desired_temp = constrain_float(track_desired_temp, 0, _track_length);
    _track_desired = max(_track_desired, track_desired_temp);

    // recalculate the desired position
    _pos_control.set_pos_target(_origin + _pos_delta_unit * _track_desired);

    // check if we've reached the waypoint
    if( !_flags.reached_destination ) {
        if( _track_desired >= _track_length ) {
            // "fast" waypoints are complete once the intermediate point reaches the destination
            if (_flags.fast_waypoint) {
                _flags.reached_destination = true;
            }else{
                // regular waypoints also require the copter to be within the waypoint radius
                Vector3f dist_to_dest = curr_pos - _destination;
                if( dist_to_dest.length() <= _wp_radius_cm ) {
                    _flags.reached_destination = true;
                }
            }
        }
    }
}

/// get_wp_distance_to_destination - get horizontal distance to destination in cm
float AC_WPNav::get_wp_distance_to_destination()
{
    // get current location
    Vector3f curr = _inav->get_position();
    return pythagorous2(_destination.x-curr.x,_destination.y-curr.y);
}

/// get_wp_bearing_to_destination - get bearing to next waypoint in centi-degrees
int32_t AC_WPNav::get_wp_bearing_to_destination()
{
    return get_bearing_cd(_inav->get_position(), _destination);
}

/// update_wpnav - run the wp controller - should be called at 10hz
void AC_WPNav::update_wpnav()
{
    // calculate dt
    uint32_t now = hal.scheduler->millis();
    float dt = (now - _wp_last_update) / 1000.0f;

    // reset step back to 0 if 0.1 seconds has passed and we completed the last full cycle
    if (dt > 0.095f) {
        // double check dt is reasonable
        if (dt >= 1.0f) {
            dt = 0.0;
        }
            // capture time since last iteration
        _wp_last_update = now;

            // advance the target if necessary
        advance_wp_target_along_track(dt);
        _pos_control.trigger_xy();
    }else{
        // run position controller
            _pos_control.update_pos_controller(false);
    }
}

/// calculate_wp_leash_length - calculates horizontal and vertical leash lengths for waypoint controller
void AC_WPNav::calculate_wp_leash_length()
{
    // length of the unit direction vector in the horizontal
    float pos_delta_unit_xy = sqrt(_pos_delta_unit.x*_pos_delta_unit.x+_pos_delta_unit.y*_pos_delta_unit.y);
    float pos_delta_unit_z = fabsf(_pos_delta_unit.z);

    float speed_z;
    float leash_z;
    if (_pos_delta_unit.z >= 0) {
        speed_z = _wp_speed_up_cms;
        leash_z = _pos_control.get_leash_up_z();
    }else{
        speed_z = _wp_speed_down_cms;
        leash_z = _pos_control.get_leash_down_z();
    }

    // calculate the maximum acceleration, maximum velocity, and leash length in the direction of travel
    if(pos_delta_unit_z == 0 && pos_delta_unit_xy == 0){
        _track_accel = 0;
        _track_speed = 0;
        _track_leash_length = WPNAV_MIN_LEASH_LENGTH;
    }else if(_pos_delta_unit.z == 0){
        _track_accel = _wp_accel_cms/pos_delta_unit_xy;
        _track_speed = _wp_speed_cms/pos_delta_unit_xy;
        _track_leash_length = _pos_control.get_leash_xy()/pos_delta_unit_xy;
    }else if(pos_delta_unit_xy == 0){
        _track_accel = WPNAV_ALT_HOLD_ACCEL_MAX/pos_delta_unit_z;
        _track_speed = speed_z/pos_delta_unit_z;
        _track_leash_length = leash_z/pos_delta_unit_z;
    }else{
        _track_accel = min(WPNAV_ALT_HOLD_ACCEL_MAX/pos_delta_unit_z, _wp_accel_cms/pos_delta_unit_xy);
        _track_speed = min(speed_z/pos_delta_unit_z, _wp_speed_cms/pos_delta_unit_xy);
        _track_leash_length = min(leash_z/pos_delta_unit_z, _pos_control.get_leash_xy()/pos_delta_unit_xy);
    }
}


///
/// shared methods
///

// get_bearing_cd - return bearing in centi-degrees between two positions
// To-Do: move this to math library
float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const
{
    float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * 5729.57795f;
    if (bearing < 0) {
        bearing += 36000;
    }
    return bearing;
}