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

static int16_t
get_stabilize_roll(int32_t target_angle)
{
	// angle error
	target_angle 		= wrap_180(target_angle - ahrs.roll_sensor);

#if FRAME_CONFIG == HELI_FRAME

	// limit the error we're feeding to the PID
	target_angle 		= constrain(target_angle, -4500, 4500);

	// convert to desired Rate:
	target_angle 		= g.pi_stabilize_roll.get_pi(target_angle, G_Dt);

	// output control:
	return constrain(target_angle, -4500, 4500);
#else

	// convert to desired Rate:
	int32_t target_rate = g.pi_stabilize_roll.get_p(target_angle);

	int16_t i_stab;
	if(abs(ahrs.roll_sensor) < 500){
		target_angle 		= constrain(target_angle, -500, 500);
		i_stab 				= g.pi_stabilize_roll.get_i(target_angle, G_Dt);
	}else{
		i_stab 				= g.pi_stabilize_roll.get_integrator();
	}

	return get_rate_roll(target_rate) + i_stab;
#endif
}

static int16_t
get_stabilize_pitch(int32_t target_angle)
{
	// angle error
	target_angle 		= wrap_180(target_angle - ahrs.pitch_sensor);

#if FRAME_CONFIG == HELI_FRAME
	// limit the error we're feeding to the PID
	target_angle 		= constrain(target_angle, -4500, 4500);

	// convert to desired Rate:
	target_angle 		= g.pi_stabilize_pitch.get_pi(target_angle, G_Dt);

	// output control:
	return constrain(target_angle, -4500, 4500);
#else

	// convert to desired Rate:
	int32_t target_rate = g.pi_stabilize_pitch.get_p(target_angle);

	int16_t i_stab;
	if(abs(ahrs.roll_sensor) < 500){
		target_angle 		= constrain(target_angle, -500, 500);
		i_stab 				= g.pi_stabilize_pitch.get_i(target_angle, G_Dt);
	}else{
		i_stab 				= g.pi_stabilize_pitch.get_integrator();
	}
	return get_rate_pitch(target_rate) + i_stab;

#endif
}

static int16_t
get_stabilize_yaw(int32_t target_angle)
{
	int32_t target_rate,i_term;
	int32_t angle_error;
	int32_t output;

	// angle error
	angle_error	 	= wrap_180(target_angle - ahrs.yaw_sensor);

	// limit the error we're feeding to the PID
#if FRAME_CONFIG == HELI_FRAME
	angle_error 		= constrain(angle_error, -4500, 4500);
#else
	angle_error 		= constrain(angle_error, -4000, 4000);
#endif

	// convert angle error to desired Rate:
	target_rate = g.pi_stabilize_yaw.get_p(angle_error);
	i_term = g.pi_stabilize_yaw.get_i(angle_error, G_Dt);

	// do not use rate controllers for helicotpers with external gyros
#if FRAME_CONFIG == HELI_FRAME
	if(!motors.ext_gyro_enabled){
		output = get_rate_yaw(target_rate) + i_term;
	}else{
		output = constrain((target_rate + i_term), -4500, 4500);
	}
#else
	output = get_rate_yaw(target_rate) + i_term;
#endif

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;		// used to slow down logging of PID values to dataflash
	// log output if PID logging is on and we are tuning the yaw
	if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
		log_counter++;
		if( log_counter >= 10 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
			log_counter = 0;
			Log_Write_PID(CH6_YAW_KP, angle_error, target_rate, i_term, 0, output, tuning_value);
		}
	}
#endif

	// ensure output does not go beyond barries of what an int16_t can hold
	return constrain(output,-32000,32000);
}

static int16_t
get_acro_roll(int32_t target_rate)
{
	target_rate = target_rate * g.acro_p;
	return get_rate_roll(target_rate);
}

static int16_t
get_acro_pitch(int32_t target_rate)
{
	target_rate = target_rate * g.acro_p;
	return get_rate_pitch(target_rate);
}

static int16_t
get_acro_yaw(int32_t target_rate)
{
	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
	return get_rate_yaw(target_rate);
}

static int16_t
get_acro_yaw2(int32_t target_rate)
{
	int32_t p,i,d;									// used to capture pid values for logging
	int32_t	rate_error;								// current yaw rate error
	int32_t	current_rate;							// current real yaw rate
	int32_t decel_boost;							// gain scheduling if we are overshooting
	int32_t output;									// output to rate controller

	target_rate = g.pi_stabilize_yaw.get_p(target_rate);
	current_rate = omega.z * DEGX100;
	rate_error = target_rate - current_rate;

	//Gain Scheduling:
	//If the yaw input is to the right, but stick is moving to the middle
	//and actual rate is greater than the target rate then we are
	//going to overshoot the yaw target to the left side, so we should
	//strengthen the yaw output to slow down the yaw!

#if (FRAME_CONFIG == HELI_FRAME	|| FRAME_CONFIG == TRI_FRAME)
	static int32_t last_target_rate = 0;			// last iteration's target rate
	if ( target_rate > 0 && last_target_rate > target_rate && rate_error < 0 ){
		decel_boost = 1;
	} else if (target_rate < 0 && last_target_rate < target_rate && rate_error > 0 ){
		decel_boost = 1;
	} else if (target_rate == 0 && abs(current_rate) > 1000){
		decel_boost = 1;
	} else {
		decel_boost = 0;
	}

	last_target_rate = target_rate;

#else

	decel_boost = 0;

#endif

	// separately calculate p, i, d values for logging
	// we will use d=0, and hold i at it's last value
	// since manual inputs are never steady state

	p = g.pid_rate_yaw.get_p(rate_error);
	i = g.pid_rate_yaw.get_integrator();
	d = 0;

	if (decel_boost){
		p *= 2;
	}

	output 	= p+i+d;

	// output control:
	// constrain output
	output = constrain(output, -4500, 4500);

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
	// log output if PID loggins is on and we are tuning the yaw
	if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
		log_counter++;
		if( log_counter >= 10 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
			log_counter = 0;
			Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
		}
	}
#endif

	return output;
}

static int16_t
get_rate_roll(int32_t target_rate)
{
	static int32_t last_rate = 0;					// previous iterations rate
	int32_t p,i,d;									// used to capture pid values for logging
	int32_t current_rate;							// this iteration's rate
	int32_t rate_error;								// simply target_rate - current_rate
	int32_t rate_d;  								// roll's acceleration
	int32_t output;									// output from pid controller
	int32_t rate_d_dampener;						// value to dampen output based on acceleration

	// get current rate
	current_rate 	= (omega.x * DEGX100);

	// calculate and filter the acceleration
	rate_d 			= roll_rate_d_filter.apply(current_rate - last_rate);

	// store rate for next iteration
	last_rate 		= current_rate;

	// call pid controller
	rate_error	= target_rate - current_rate;
	p 			= g.pid_rate_roll.get_p(rate_error);
	i			= g.pid_rate_roll.get_i(rate_error, G_Dt);
	d			= g.pid_rate_roll.get_d(rate_error, G_Dt);
	output		= p + i + d;

	// Dampening output with D term
	rate_d_dampener = rate_d * roll_scale_d;
	rate_d_dampener = constrain(rate_d_dampener, -400, 400);
	output -= rate_d_dampener;

	// constrain output
	output = constrain(output, -5000, 5000);

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
	// log output if PID logging is on and we are tuning the rate P, I or D gains
	if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
		log_counter++;
		if( log_counter >= 10 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
			log_counter = 0;
			Log_Write_PID(CH6_RATE_KP, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
		}
	}
#endif

	// output control
	return output;
}

static int16_t
get_rate_pitch(int32_t target_rate)
{
	static int32_t last_rate = 0;					// previous iterations rate
	int32_t p,i,d;									// used to capture pid values for logging
	int32_t current_rate;							// this iteration's rate
	int32_t rate_error;								// simply target_rate - current_rate
	int32_t rate_d;  								// roll's acceleration
	int32_t output;									// output from pid controller
	int32_t rate_d_dampener;						// value to dampen output based on acceleration

	// get current rate
	current_rate 	= (omega.y * DEGX100);

	// calculate and filter the acceleration
	rate_d 			= pitch_rate_d_filter.apply(current_rate - last_rate);

	// store rate for next iteration
	last_rate 		= current_rate;

	// call pid controller
	rate_error	= target_rate - current_rate;
	p 			= g.pid_rate_pitch.get_p(rate_error);
	i 			= g.pid_rate_pitch.get_i(rate_error, G_Dt);
	d 			= g.pid_rate_pitch.get_d(rate_error, G_Dt);
	output		= p + i + d;

	// Dampening output with D term
	rate_d_dampener = rate_d * pitch_scale_d;
	rate_d_dampener = constrain(rate_d_dampener, -400, 400);
	output -= rate_d_dampener;

	// constrain output
	output = constrain(output, -5000, 5000);

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
	// log output if PID logging is on and we are tuning the rate P, I or D gains
	if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_RATE_KP || g.radio_tuning == CH6_RATE_KI || g.radio_tuning == CH6_RATE_KD) ) {
		log_counter++;
		if( log_counter >= 10 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
			log_counter = 0;
			Log_Write_PID(CH6_RATE_KP+100, rate_error, p, i, d-rate_d_dampener, output, tuning_value);
		}
	}
#endif

	// output control
	return output;
}

static int16_t
get_rate_yaw(int32_t target_rate)
{
	int32_t p,i,d;									// used to capture pid values for logging
	int32_t rate_error;
	int32_t output;

	// rate control
	rate_error	 	= target_rate - (omega.z * DEGX100);

	// separately calculate p, i, d values for logging
	p = g.pid_rate_yaw.get_p(rate_error);
	i = g.pid_rate_yaw.get_i(rate_error, G_Dt);
	d = g.pid_rate_yaw.get_d(rate_error, G_Dt);

	output 	= p+i+d;
	output = constrain(output, -4500, 4500);

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
	// log output if PID loggins is on and we are tuning the yaw
	if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_YAW_KP || g.radio_tuning == CH6_YAW_RATE_KP) ) {
		log_counter++;
		if( log_counter >= 10 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
			log_counter = 0;
			Log_Write_PID(CH6_YAW_RATE_KP, rate_error, p, i, d, output, tuning_value);
		}
	}
#endif

	// constrain output
	return output;
}

static int16_t
get_nav_throttle(int32_t z_error)
{
	int16_t z_target_speed;

	// convert to desired Rate:
	z_target_speed 		= g.pi_alt_hold.get_p(z_error);
	z_target_speed 		= constrain(z_target_speed, -250, 250);

	// limit error to prevent I term wind up
	z_error 		= constrain(z_error, -400, 400);

	// compensates throttle setpoint error for hovering
	int16_t i_hold 	= g.pi_alt_hold.get_i(z_error, .02);

	// output control:
	return get_throttle_rate(z_target_speed) + i_hold; //+ boost_p;
}


static int16_t
get_throttle_rate(int16_t z_target_speed)
{
	int16_t z_rate_error, output;

	// calculate rate error
	#if INERTIAL_NAV == ENABLED
	z_rate_error	= z_target_speed - accels_velocity.z;			// calc the speed error
	#else
	z_rate_error	= z_target_speed - climb_rate;		// calc the speed error
	#endif

	int32_t tmp	= (z_target_speed * z_target_speed * (int32_t)g.throttle_cruise) / 200000;

	if(z_target_speed < 0) tmp = -tmp;

	output			= constrain(tmp, -3200, 3200);

	// limit the rate
	output +=  constrain(g.pid_throttle.get_pid(z_rate_error, .02), -80, 120);

	return output;
}

// Keeps old data out of our calculation / logs
static void reset_nav_params(void)
{
	nav_throttle 			= 0;

	// always start Circle mode at same angle
	circle_angle			= 0;

	// We must be heading to a new WP, so XTrack must be 0
	crosstrack_error 		= 0;

	// Will be set by new command
	target_bearing 			= 0;

	// Will be set by new command
	wp_distance 			= 0;

	// Will be set by new command, used by loiter
	long_error 				= 0;
	lat_error  				= 0;

	// Will be set by new command, used by loiter
	next_WP.alt				= 0;

	// We want to by default pass WPs
	slow_wp = false;

	// make sure we stick to Nav yaw on takeoff
	auto_yaw = nav_yaw;
}

/*
  reset all I integrators
 */
static void reset_I_all(void)
{
	reset_rate_I();
	reset_stability_I();
	reset_wind_I();
	reset_throttle_I();
	reset_optflow_I();

	// This is the only place we reset Yaw
	g.pi_stabilize_yaw.reset_I();
}

static void reset_rate_I()
{
	g.pid_rate_roll.reset_I();
	g.pid_rate_pitch.reset_I();
	g.pid_rate_yaw.reset_I();
}

static void reset_optflow_I(void)
{
	g.pid_optflow_roll.reset_I();
	g.pid_optflow_pitch.reset_I();
	of_roll = 0;
	of_pitch = 0;
}

static void reset_wind_I(void)
{
	// Wind Compensation
	// this i is not currently being used, but we reset it anyway
	// because someone may modify it and not realize it, causing a bug
	g.pi_loiter_lat.reset_I();
	g.pi_loiter_lon.reset_I();

	g.pid_loiter_rate_lat.reset_I();
	g.pid_loiter_rate_lon.reset_I();

	g.pid_nav_lat.reset_I();
	g.pid_nav_lon.reset_I();
}

static void reset_throttle_I(void)
{
	// For Altitude Hold
	g.pi_alt_hold.reset_I();
	g.pid_throttle.reset_I();
}

static void reset_stability_I(void)
{
	// Used to balance a quad
	// This only needs to be reset during Auto-leveling in flight
	g.pi_stabilize_roll.reset_I();
	g.pi_stabilize_pitch.reset_I();
}


/*************************************************************
throttle control
****************************************************************/

/* Depricated

static long
//get_nav_yaw_offset(int yaw_input, int reset)
{
	int32_t _yaw;

	if(reset == 0){
		// we are on the ground
		return ahrs.yaw_sensor;

	}else{
		// re-define nav_yaw if we have stick input
		if(yaw_input != 0){
			// set nav_yaw + or - the current location
			_yaw = yaw_input + ahrs.yaw_sensor;
			// we need to wrap our value so we can be 0 to 360 (*100)
			return wrap_360(_yaw);
		}else{
			// no stick input, lets not change nav_yaw
			return nav_yaw;
		}
	}
}
*/

static int16_t get_angle_boost(int16_t value)
{
	float temp = cos_pitch_x * cos_roll_x;
	temp = constrain(temp, .5, 1.0);
	return ((float)(g.throttle_cruise + 80) / temp) - (g.throttle_cruise + 80);
}

#if FRAME_CONFIG == HELI_FRAME
// heli_angle_boost - adds a boost depending on roll/pitch values
// equivalent of quad's angle_boost function
// throttle value should be 0 ~ 1000
static int16_t heli_get_angle_boost(int16_t throttle)
{
    float angle_boost_factor = cos_pitch_x * cos_roll_x;
	angle_boost_factor = 1.0 - constrain(angle_boost_factor, .5, 1.0);
	int throttle_above_mid = max(throttle - motors.throttle_mid,0);
	return throttle + throttle_above_mid*angle_boost_factor;

}
#endif // HELI_FRAME

#define NUM_G_SAMPLES 40

#if ACCEL_ALT_HOLD == 2
// z -14.4306 = going up
// z -6.4306 = going down
static int get_z_damping()
{
	int output;

	Z_integrator 	+= get_world_Z_accel() - Z_offset;
	output 			= Z_integrator * 3;
	Z_integrator 	= Z_integrator * .8;
	output = constrain(output, -100, 100);
	return output;
}

float get_world_Z_accel()
{
	accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
	//Serial.printf("z %1.4f\n", accels_rot.z);
	return accels_rot.z;
}

static void init_z_damper()
{
	Z_offset = 0;
	for (int i = 0; i < NUM_G_SAMPLES; i++){
		delay(5);
		read_AHRS();
		Z_offset += get_world_Z_accel();
	}
	Z_offset /= (float)NUM_G_SAMPLES;
}




// Accelerometer Z dampening by Aurelio R. Ramos
// ---------------------------------------------
#elif ACCEL_ALT_HOLD == 1

// contains G and any other DC offset
static float estimatedAccelOffset = 0;

// state
static float synVelo = 0;
static float synPos = 0;
static float synPosFiltered = 0;
static float posError = 0;
static float prevSensedPos = 0;

// tuning for dead reckoning
static const float dt_50hz = 0.02;
static float synPosP = 10 * dt_50hz;
static float synPosI = 15 * dt_50hz;
static float synVeloP = 1.5 * dt_50hz;
static float maxVeloCorrection = 5 * dt_50hz;
static float maxSensedVelo = 1;
static float synPosFilter = 0.5;


// Z damping term.
static float fullDampP = 0.100;

float get_world_Z_accel()
{
	accels_rot = ahrs.get_dcm_matrix() * imu.get_accel();
	return accels_rot.z;
}

static void init_z_damper()
{
	estimatedAccelOffset = 0;
	for (int i = 0; i < NUM_G_SAMPLES; i++){
		delay(5);
		read_AHRS();
		estimatedAccelOffset += get_world_Z_accel();
	}
	estimatedAccelOffset /= (float)NUM_G_SAMPLES;
}

float dead_reckon_Z(float sensedPos, float sensedAccel)
{
	// the following algorithm synthesizes position and velocity from
	// a noisy altitude and accelerometer data.

	// synthesize uncorrected velocity by integrating acceleration
	synVelo += (sensedAccel - estimatedAccelOffset) * dt_50hz;

	// synthesize uncorrected position by integrating uncorrected velocity
	synPos += synVelo * dt_50hz;

	// filter synPos, the better this filter matches the filtering and dead time
	// of the sensed position, the less the position estimate will lag.
	synPosFiltered = synPosFiltered * (1 - synPosFilter) + synPos * synPosFilter;

	// calculate error against sensor position
	posError = sensedPos - synPosFiltered;

	// correct altitude
	synPos += synPosP * posError;

	// correct integrated velocity by posError
	synVelo = synVelo + constrain(posError, -maxVeloCorrection, maxVeloCorrection) * synPosI;

	// correct integrated velocity by the sensed position delta in a small proportion
	// (i.e., the low frequency of the delta)
	float sensedVelo = (sensedPos - prevSensedPos) / dt_50hz;
	synVelo += constrain(sensedVelo - synVelo, -maxSensedVelo, maxSensedVelo) * synVeloP;

	prevSensedPos = sensedPos;
	return synVelo;
}

static int get_z_damping()
{
	float sensedAccel = get_world_Z_accel();
	float sensedPos = current_loc.alt / 100.0;

	float synVelo = dead_reckon_Z(sensedPos, sensedAccel);
	return constrain(fullDampP * synVelo * (-1), -300, 300);
}

#else

static int get_z_damping()
{
	return 0;
}

static void init_z_damper()
{
}
#endif

// calculate modified roll/pitch depending upon optical flow calculated position
static int32_t
get_of_roll(int32_t control_roll)
{
#ifdef OPTFLOW_ENABLED
	static float tot_x_cm = 0;  // total distance from target
    static uint32_t last_of_roll_update = 0;
	int32_t new_roll = 0;
	int32_t p,i,d;

	// check if new optflow data available
	if( optflow.last_update != last_of_roll_update) {
	    last_of_roll_update = optflow.last_update;

		// add new distance moved
		tot_x_cm += optflow.x_cm;

		// only stop roll if caller isn't modifying roll
		if( control_roll == 0 && current_loc.alt < 1500) {
			p = g.pid_optflow_roll.get_p(-tot_x_cm);
			i = g.pid_optflow_roll.get_i(-tot_x_cm,1.0);  // we could use the last update time to calculate the time change
			d = g.pid_optflow_roll.get_d(-tot_x_cm,1.0);
			new_roll = p+i+d;
		}else{
		    g.pid_optflow_roll.reset_I();
			tot_x_cm = 0;
			p = 0;  // for logging
			i = 0;
			d = 0;
		}
		// limit amount of change and maximum angle
		of_roll = constrain(new_roll, (of_roll-20), (of_roll+20));

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
		// log output if PID logging is on and we are tuning the rate P, I or D gains
		if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
			log_counter++;
			if( log_counter >= 5 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
				log_counter = 0;
				Log_Write_PID(CH6_OPTFLOW_KP, tot_x_cm, p, i, d, of_roll, tuning_value);
			}
		}
#endif  // LOGGING_ENABLED == ENABLED
	}

	// limit max angle
    of_roll = constrain(of_roll, -1000, 1000);

    return control_roll+of_roll;
#else
    return control_roll;
#endif
}

static int32_t
get_of_pitch(int32_t control_pitch)
{
#ifdef OPTFLOW_ENABLED
    static float tot_y_cm = 0;  // total distance from target
    static uint32_t last_of_pitch_update = 0;
	int32_t new_pitch = 0;
	int32_t p,i,d;

	// check if new optflow data available
	if( optflow.last_update != last_of_pitch_update ) {
	    last_of_pitch_update = optflow.last_update;

		// add new distance moved
		tot_y_cm += optflow.y_cm;

		// only stop roll if caller isn't modifying pitch
		if( control_pitch == 0 && current_loc.alt < 1500 ) {
			p = g.pid_optflow_pitch.get_p(tot_y_cm);
			i = g.pid_optflow_pitch.get_i(tot_y_cm, 1.0);  // we could use the last update time to calculate the time change
			d = g.pid_optflow_pitch.get_d(tot_y_cm, 1.0);
			new_pitch = p + i + d;
		}else{
		    tot_y_cm = 0;
		    g.pid_optflow_pitch.reset_I();
			p = 0;  // for logging
			i = 0;
			d = 0;
		}

		// limit amount of change
		of_pitch = constrain(new_pitch, (of_pitch-20), (of_pitch+20));

#if LOGGING_ENABLED == ENABLED
	static int8_t log_counter = 0;					// used to slow down logging of PID values to dataflash
		// log output if PID logging is on and we are tuning the rate P, I or D gains
		if( g.log_bitmask & MASK_LOG_PID && (g.radio_tuning == CH6_OPTFLOW_KP || g.radio_tuning == CH6_OPTFLOW_KI || g.radio_tuning == CH6_OPTFLOW_KD) ) {
			log_counter++;
			if( log_counter >= 5 ) {	// (update rate / desired output rate) = (100hz / 10hz) = 10
				log_counter = 0;
				Log_Write_PID(CH6_OPTFLOW_KP+100, tot_y_cm, p, i, d, of_pitch, tuning_value);
			}
		}
#endif  // LOGGING_ENABLED == ENABLED
	}

	// limit max angle
	of_pitch = constrain(of_pitch, -1000, 1000);

    return control_pitch+of_pitch;
#else
    return control_pitch;
#endif
}


// THOR
// The function call for managing the flight mode Toy
void roll_pitch_toy()
{
	bool manual_control = false;

	if(g.rc_2.control_in != 0){
		// If we pitch forward or back, resume manually control
		manual_control  = true;
	}

	// Yaw control - Yaw is always available, and will NOT exit the
	// user from Loiter mode
	int16_t yaw_rate = g.rc_1.control_in / g.toy_yaw_rate;

	if(g.rc_1.control_in != 0){ // roll
		g.rc_4.servo_out = get_acro_yaw(yaw_rate/2);
		yaw_stopped = false;
		yaw_timer = 150;

	}else if (!yaw_stopped){
		g.rc_4.servo_out = get_acro_yaw(0);
		yaw_timer--;

		if((yaw_timer == 0) || (fabs(omega.z) < .17)){
			yaw_stopped = true;
			nav_yaw = ahrs.yaw_sensor;
		}
	}else{
		if(motors.armed() == false)
			nav_yaw = ahrs.yaw_sensor;
		g.rc_4.servo_out = get_stabilize_yaw(nav_yaw);
	}

	if(manual_control){
		// user is in control: reset count-up timer
		toy_input_timer = 0;

		// roll_rate is the outcome of the linear equation or lookup table
		// based on speed and Yaw rate
		int16_t roll_rate = 0;

		// We manually set out modes based on the state of Toy mode:
		// Handle throttle manually
		throttle_mode 	= THROTTLE_MANUAL;

		// Dont try to navigate or integrate a nav error
		wp_control 		= NO_NAV_MODE;

	#if TOY_LOOKUP == 1
		uint8_t xx, yy;
		// Lookup value
		xx	= g_gps->ground_speed / 200;
		yy	= abs(yaw_rate / 500);

		// constrain to lookup Array range
		xx = constrain(xx, 0, 3);
		yy = constrain(yy, 0, 8);

		roll_rate = toy_lookup[yy * 4 + xx];

		if(yaw_rate == 0)
			roll_rate = 0;
		else if(yaw_rate < 0)
			roll_rate = -roll_rate;

		int16_t roll_limit = 4500 / g.toy_yaw_rate;
		roll_rate = constrain(roll_rate, -roll_limit, roll_limit);
	#else
		// yaw_rate = roll angle
		// Linear equation for Yaw:Speed to Roll
		// default is 1000, lower for more roll action
		//roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate;
		roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
		//Serial.printf("roll_rate: %d\n",roll_rate);

		// limit roll rate to 15, 30, or 45 deg per second.
		//int16_t roll_limit = 4500 / g.toy_yaw_rate;
		//roll_rate = constrain(roll_rate, -roll_limit, roll_limit);

		roll_rate = constrain(roll_rate, -2500, 2500);

		//Serial.printf("yaw_rate %d, roll_rate %d, lim %d\n",yaw_rate, roll_rate, roll_limit);
	#endif

		// Output the attitude
		g.rc_1.servo_out = get_stabilize_roll(roll_rate);
		g.rc_2.servo_out = get_stabilize_pitch(g.rc_2.control_in);

	}else{
		//no user input
		// Count-up to decision tp Loiter
		toy_input_timer++;

		//if (toy_input_timer == TOY_DELAY){
		if((wp_control != LOITER_MODE) && ((g_gps->ground_speed < 150) || (toy_input_timer == TOY_DELAY))){

			// clear our I terms for Nav or we will carry over old values
			reset_wind_I();
			// loiter
			wp_control = LOITER_MODE;

			// we are in an alt hold throttle with manual override
			throttle_mode 	= THROTTLE_HOLD;

			set_next_WP(&current_loc);
		}

		if (wp_control == LOITER_MODE){
			// prevent timer overflow
			toy_input_timer = TOY_DELAY;

			// outputs the needed nav_control to maintain speed and direction
			g.rc_1.servo_out 	= get_stabilize_roll(auto_roll);
			g.rc_2.servo_out 	= get_stabilize_pitch(auto_pitch);

		}else{
			// Coast
			g.rc_1.servo_out 	= get_stabilize_roll(0);
			g.rc_2.servo_out 	= get_stabilize_pitch(0);
		}
	}
}