#include "Copter.h"


/*
 * Init and run calls for althold, flight mode
 */

// althold_init - initialise althold controller
bool ModeAltHold::init(bool ignore_checks)
{

    // initialise the vertical position controller
    if (!pos_control->is_active_U()) {
        pos_control->init_U_controller();
    }

    // set vertical speed and acceleration limits
    pos_control->set_max_speed_accel_U_cm(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
    pos_control->set_correction_speed_accel_U_cmss(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

    return true;
}

// althold_run - runs the althold controller
// should be called at 100hz or more
void ModeAltHold::run()
{
    // set vertical speed and acceleration limits
    pos_control->set_max_speed_accel_U_cm(-get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);

    // apply SIMPLE mode transform to pilot inputs
    update_simple_mode();

    // get pilot desired lean angles
    float target_roll_rad, target_pitch_rad;
    get_pilot_desired_lean_angles_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad(), attitude_control->get_althold_lean_angle_max_rad());

    // get pilot's desired yaw rate
    float target_yaw_rate_rads = get_pilot_desired_yaw_rate_rads();

    // get pilot desired climb rate
    float target_climb_rate_cms = get_pilot_desired_climb_rate();
    target_climb_rate_cms = constrain_float(target_climb_rate_cms, -get_pilot_speed_dn(), g.pilot_speed_up);

    // Alt Hold State Machine Determination
    AltHoldModeState althold_state = get_alt_hold_state(target_climb_rate_cms);

    // Alt Hold State Machine
    switch (althold_state) {

    case AltHoldModeState::MotorStopped:
        attitude_control->reset_rate_controller_I_terms();
        attitude_control->reset_yaw_target_and_rate(false);
        pos_control->relax_U_controller(0.0f);   // forces throttle output to decay to zero
        break;

    case AltHoldModeState::Landed_Ground_Idle:
        attitude_control->reset_yaw_target_and_rate();
        FALLTHROUGH;

    case AltHoldModeState::Landed_Pre_Takeoff:
        attitude_control->reset_rate_controller_I_terms_smoothly();
        pos_control->relax_U_controller(0.0f);   // forces throttle output to decay to zero
        break;

    case AltHoldModeState::Takeoff:
        // initiate take-off
        if (!takeoff.running()) {
            takeoff.start(constrain_float(g.pilot_takeoff_alt,0.0f,1000.0f));
        }

        // get avoidance adjusted climb rate
        target_climb_rate_cms = get_avoidance_adjusted_climbrate_cms(target_climb_rate_cms);

        // set position controller targets adjusted for pilot input
        takeoff.do_pilot_takeoff(target_climb_rate_cms);
        break;

    case AltHoldModeState::Flying:
        motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

#if AP_AVOIDANCE_ENABLED
        // apply avoidance
        copter.avoid.adjust_roll_pitch_rad(target_roll_rad, target_pitch_rad, attitude_control->lean_angle_max_rad());
#endif

        // get avoidance adjusted climb rate
        target_climb_rate_cms = get_avoidance_adjusted_climbrate_cms(target_climb_rate_cms);

#if AP_RANGEFINDER_ENABLED
        // update the vertical offset based on the surface measurement
        copter.surface_tracking.update_surface_offset();
#endif

        // Send the commanded climb rate to the position controller
        pos_control->set_pos_target_U_from_climb_rate_cm(target_climb_rate_cms);
        break;
    }

    // call attitude controller
    attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw_rad(target_roll_rad, target_pitch_rad, target_yaw_rate_rads);

    // run the vertical position controller and set output throttle
    pos_control->update_U_controller();
}