#include "Blimp.h"

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 *  Blimp parameter definitions
 *
 */

#define DEFAULT_FRAME_CLASS 0

const AP_Param::Info Blimp::var_info[] = {
    // @Param: FORMAT_VERSION
    // @DisplayName: Eeprom format version number
    // @Description: This value is incremented when changes are made to the eeprom format
    // @User: Advanced
    GSCALAR(format_version, "FORMAT_VERSION",   0),

    // SYSID_THISMAV was here

    // SYSID_MYGCS was here

    // @Param: PILOT_THR_FILT
    // @DisplayName: Throttle filter cutoff
    // @Description: Throttle filter cutoff (Hz) - active whenever altitude control is inactive - 0 to disable
    // @User: Advanced
    // @Units: Hz
    // @Range: 0 10
    // @Increment: 0.5
    GSCALAR(throttle_filt,  "PILOT_THR_FILT",     0),

    // @Param: PILOT_THR_BHV
    // @DisplayName: Throttle stick behavior
    // @Description: Bitmask containing various throttle stick options. TX with sprung throttle can set PILOT_THR_BHV to "1" so motor feedback when landed starts from mid-stick instead of bottom of stick.
    // @User: Standard
    // @Bitmask: 0:Feedback from mid stick,1:High throttle cancels landing,2:Disarm on land detection
    GSCALAR(throttle_behavior, "PILOT_THR_BHV", 0),

    // SerialManager was here

    // @Param: GCS_PID_MASK
    // @DisplayName: GCS PID tuning mask
    // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
    // @User: Advanced
    // @Bitmask: 0:VELX,1:VELY,2:VELZ,3:VELYAW,4:POSX,5:POSY,6:POZ,7:POSYAW
    GSCALAR(gcs_pid_mask, "GCS_PID_MASK",     0),

    // @Param: FS_GCS_ENABLE
    // @DisplayName: Ground Station Failsafe Enable
    // @Description: Controls whether failsafe will be invoked (and what action to take) when connection with Ground station is lost for at least 5 seconds. See FS_OPTIONS param for additional actions, or for cases allowing Mission continuation, when GCS failsafe is enabled.
    // @Values: 0:Disabled/NoAction,5:Land
    // @User: Standard
    GSCALAR(failsafe_gcs, "FS_GCS_ENABLE", FS_GCS_DISABLED),

    // @Param: GPS_HDOP_GOOD
    // @DisplayName: GPS Hdop Good
    // @Description: GPS Hdop value at or below this value represent a good position.  Used for pre-arm checks
    // @Range: 100 900
    // @User: Advanced
    GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),

    // @Param: FS_THR_ENABLE
    // @DisplayName: Throttle Failsafe Enable
    // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
    // @Values:  0:Disabled,3:Enabled always Land
    // @User: Standard
    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_ENABLED_ALWAYS_RTL),

    // @Param: FS_THR_VALUE
    // @DisplayName: Throttle Failsafe Value
    // @Description: The PWM level in microseconds on channel 3 below which throttle failsafe triggers
    // @Range: 910 1100
    // @Units: PWM
    // @Increment: 1
    // @User: Standard
    GSCALAR(failsafe_throttle_value, "FS_THR_VALUE",      FS_THR_VALUE_DEFAULT),

    // @Param: THR_DZ
    // @DisplayName: Throttle deadzone
    // @Description: The deadzone above and below mid throttle in PWM microseconds. Used in AltHold, Loiter, PosHold flight modes
    // @User: Standard
    // @Range: 0 300
    // @Units: PWM
    // @Increment: 1
    GSCALAR(throttle_deadzone,  "THR_DZ",    THR_DZ_DEFAULT),

    // @Param: FLTMODE1
    // @DisplayName: Flight Mode 1
    // @Description: Flight mode when Channel 5 pwm is <= 1230
    // @Values: 0:LAND,1:MANUAL,2:VELOCITY,3:LOITER
    // @User: Standard
    GARRAY(flight_modes, 0, "FLTMODE1", (uint8_t)FLIGHT_MODE_1),

    // @Param: FLTMODE2
    // @CopyFieldsFrom: FLTMODE1
    // @DisplayName: Flight Mode 2
    // @Description: Flight mode when Channel 5 pwm is >1230, <= 1360
    GARRAY(flight_modes, 1, "FLTMODE2", (uint8_t)FLIGHT_MODE_2),

    // @Param: FLTMODE3
    // @CopyFieldsFrom: FLTMODE1
    // @DisplayName: Flight Mode 3
    // @Description: Flight mode when Channel 5 pwm is >1360, <= 1490
    GARRAY(flight_modes, 2, "FLTMODE3", (uint8_t)FLIGHT_MODE_3),

    // @Param: FLTMODE4
    // @CopyFieldsFrom: FLTMODE1
    // @DisplayName: Flight Mode 4
    // @Description: Flight mode when Channel 5 pwm is >1490, <= 1620
    GARRAY(flight_modes, 3, "FLTMODE4", (uint8_t)FLIGHT_MODE_4),

    // @Param: FLTMODE5
    // @CopyFieldsFrom: FLTMODE1
    // @DisplayName: Flight Mode 5
    // @Description: Flight mode when Channel 5 pwm is >1620, <= 1749
    GARRAY(flight_modes, 4, "FLTMODE5", (uint8_t)FLIGHT_MODE_5),

    // @Param: FLTMODE6
    // @CopyFieldsFrom: FLTMODE1
    // @DisplayName: Flight Mode 6
    // @Description: Flight mode when Channel 5 pwm is >=1750
    GARRAY(flight_modes, 5, "FLTMODE6", (uint8_t)FLIGHT_MODE_6),

    // @Param: FLTMODE_CH
    // @DisplayName: Flightmode channel
    // @Description: RC Channel to use for flight mode control
    // @Values: 0:Disabled,5:Channel5,6:Channel6,7:Channel7,8:Channel8
    // @User: Advanced
    GSCALAR(flight_mode_chan, "FLTMODE_CH",         CH_MODE_DEFAULT),

    // @Param: INITIAL_MODE
    // @DisplayName: Initial flight mode
    // @Description: This selects the mode to start in on boot.
    // @CopyValuesFrom: FLTMODE1
    // @User: Advanced
    GSCALAR(initial_mode,        "INITIAL_MODE",     (uint8_t)Mode::Number::MANUAL),

    // @Param: LOG_BITMASK
    // @DisplayName: Log bitmask
    // @Description: Bitmap of what log types to enable in on-board logger. This value is made up of the sum of each of the log types you want to be saved. On boards supporting microSD cards or other large block-storage devices it is usually best just to enable all basic log types by setting this to 65535.
    // @Bitmask: 0:Fast Attitude,1:Medium Attitude,2:GPS,3:System Performance,4:Control Tuning,6:RC Input,7:IMU,9:Battery Monitor,10:RC Output,12:PID,13:Compass
    // @User: Standard
    GSCALAR(log_bitmask,    "LOG_BITMASK",          DEFAULT_LOG_BITMASK),

    // @Group: ARMING_
    // @Path: ../libraries/AP_Arming/AP_Arming.cpp
    GOBJECT(arming,                 "ARMING_", AP_Arming_Blimp),

    // @Param: DISARM_DELAY
    // @DisplayName: Disarm delay
    // @Description: Delay before automatic disarm in seconds. A value of zero disables auto disarm.
    // @Units: s
    // @Range: 0 127
    // @User: Advanced
    GSCALAR(disarm_delay, "DISARM_DELAY",           AUTO_DISARMING_DELAY),

    // @Param: FS_EKF_ACTION
    // @DisplayName: EKF Failsafe Action
    // @Description: Controls the action that will be taken when an EKF failsafe is invoked
    // @Values: 1:Land, 3:Land even in MANUAL
    // @User: Advanced
    GSCALAR(fs_ekf_action, "FS_EKF_ACTION",    FS_EKF_ACTION_DEFAULT),

    // @Param: FS_EKF_THRESH
    // @DisplayName: EKF failsafe variance threshold
    // @Description: Allows setting the maximum acceptable compass and velocity variance
    // @Values: 0.6:Strict, 0.8:Default, 1.0:Relaxed
    // @Range: 0.6 1.0
    // @User: Advanced
    GSCALAR(fs_ekf_thresh, "FS_EKF_THRESH",    FS_EKF_THRESHOLD_DEFAULT),

    // @Param: FS_CRASH_CHECK
    // @DisplayName: Crash check enable
    // @Description: This enables automatic crash checking. When enabled the motors will disarm if a crash is detected.
    // @Values: 0:Disabled, 1:Enabled
    // @User: Advanced
    GSCALAR(fs_crash_check, "FS_CRASH_CHECK",    1),

    // @Param: MAX_MAN_THR
    // @DisplayName: Max Throttle in Manual Mode
    // @Description: Sets the maximum commanded throttle in manual mode. Note that this will be on top of FINS_THR_MAX.
    // @Range: 0.1 1
    // @User: Standard
    GSCALAR(max_man_thr, "MAX_MAN_THR", 1),

    // @Param: WP_ACCEL
    // @DisplayName: Waypoint Acceleration
    // @Description: Sets the maximum acceleration for waypoint navigation
    // @Units: m/s/s
    // @Range: 0.1 1
    // @User: Standard
    GSCALAR(wp_accel, "WP_ACCEL", 0.4),

    // @Param: WP_VEL
    // @DisplayName: Waypoint Velocity
    // @Description: Sets the maximum velocity for waypoint navigation
    // @Units: m/s
    // @Range: 0.1 1
    // @User: Standard
    GSCALAR(wp_vel, "WP_VEL", 0.4),

    // @Param: WP_RADIUS
    // @DisplayName: Waypoint Radius
    // @Description: Sets the waypoint acceptance radius for waypoint navigation
    // @Units: m
    // @Range: 0.1 10
    // @User: Standard
    GSCALAR(wp_radius, "WP_RADIUS", 1.0),

    // @Param: WP_YAW_MIN_VEL
    // @DisplayName: Waypoint Yaw Minimum Velocity
    // @Description: Sets the minimum horizontal speed for waypoint navigation
    // @Units: m/s
    // @Range: 0.1 1
    // @User: Standard
    GSCALAR(wp_yaw_min_vel, "WP_YAW_MIN_VEL", 0.1),

    // @Param: WP_YAW_SPD
    // @DisplayName: Waypoint Yaw speed
    // @Description: Sets the yaw speed for yawing to direction of travel during waypoint navigation
    // @Units: rad/s
    // @Range: 0.1 1
    // @User: Standard
    GSCALAR(wp_yaw_spd, "WP_YAW_SPD", 0.5),

    // @Param: SIMPLE_MODE
    // @DisplayName: Simple mode
    // @Description: Simple mode for Position control - "forward" moves blimp in +ve X direction world-frame
    // @Values: 0:Disabled, 1:Enabled
    // @User: Standard
    GSCALAR(simple_mode, "SIMPLE_MODE", 0),

    // variables not in the g class which contain EEPROM saved variables

    // @Group: COMPASS_
    // @Path: ../libraries/AP_Compass/AP_Compass.cpp
    GOBJECT(compass,        "COMPASS_", Compass),

    // @Group: INS
    // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
    GOBJECT(ins,            "INS", AP_InertialSensor),

    // SR0 through SR6 was here

    // @Group: AHRS_
    // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
    GOBJECT(ahrs,                   "AHRS_",    AP_AHRS),

    // @Group: BATT
    // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
    GOBJECT(battery,                "BATT",         AP_BattMonitor),

    // @Group: BRD_
    // @Path: ../libraries/AP_BoardConfig/AP_BoardConfig.cpp
    GOBJECT(BoardConfig,            "BRD_",       AP_BoardConfig),

#if HAL_MAX_CAN_PROTOCOL_DRIVERS
    // @Group: CAN_
    // @Path: ../libraries/AP_CANManager/AP_CANManager.cpp
    GOBJECT(can_mgr,        "CAN_",       AP_CANManager),
#endif

#if AP_SIM_ENABLED
    GOBJECT(sitl, "SIM_", SITL::SIM),
#endif

    // @Group: BARO
    // @Path: ../libraries/AP_Baro/AP_Baro.cpp
    GOBJECT(barometer, "BARO", AP_Baro),

    // GPS driver
    // @Group: GPS
    // @Path: ../libraries/AP_GPS/AP_GPS.cpp
    GOBJECT(gps, "GPS", AP_GPS),

    // @Group: SCHED_
    // @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
    GOBJECT(scheduler, "SCHED_", AP_Scheduler),

    // @Group: RCMAP_
    // @Path: ../libraries/AP_RCMapper/AP_RCMapper.cpp
    GOBJECT(rcmap, "RCMAP_",        RCMapper),

#if HAL_NAVEKF2_AVAILABLE
    // @Group: EK2_
    // @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
    GOBJECTN(ahrs.ekf2.EKF2, NavEKF2, "EK2_", NavEKF2),
#endif

#if HAL_NAVEKF3_AVAILABLE
    // @Group: EK3_
    // @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
    GOBJECTN(ahrs.ekf3.EKF3, NavEKF3, "EK3_", NavEKF3),
#endif

#if AP_RSSI_ENABLED
    // @Group: RSSI_
    // @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
    GOBJECT(rssi, "RSSI_",  AP_RSSI),
#endif

    // @Group: NTF_
    // @Path: ../libraries/AP_Notify/AP_Notify.cpp
    GOBJECT(notify, "NTF_",  AP_Notify),

    // @Group:
    // @Path: Parameters.cpp
    GOBJECT(g2, "",  ParametersG2),

    // @Group: FINS_
    // @Path: Fins.cpp
    GOBJECTPTR(motors, "FINS_", Fins),

    // @Group: LOIT_
    // @Path: Loiter.cpp
    GOBJECTPTR(loiter, "LOIT_", Loiter),

    GOBJECTN(mode_auto.mission, mission, "MIS_", AP_Mission),
    // @Group:
    // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
    PARAM_VEHICLE_INFO,

#if HAL_GCS_ENABLED
    // @Group: MAV
    // @Path: ../libraries/GCS_MAVLink/GCS.cpp
    GOBJECT(_gcs,           "MAV",  GCS),
#endif

    AP_VAREND
};

/*
  2nd group of parameters
 */
const AP_Param::GroupInfo ParametersG2::var_info[] = {

    // @Param: DEV_OPTIONS
    // @DisplayName: Development options
    // @Description: Bitmask of developer options. The meanings of the bit fields in this parameter may vary at any time. Developers should check the source code for current meaning
    // @Bitmask: 0:Unknown
    // @User: Advanced
    AP_GROUPINFO("DEV_OPTIONS", 7, ParametersG2, dev_options, 0),

    // 11 was SYSID_ENFORCE

    // 12 was AP_Stats

    // @Param: FRAME_CLASS
    // @DisplayName: Frame class
    // @Description: Controls frame for blimp.
    // @Values: 0:Finnedblimp
    // @User: Standard
    // @RebootRequired: True
    AP_GROUPINFO("FRAME_CLASS", 15, ParametersG2, frame_class, DEFAULT_FRAME_CLASS),

    // @Group: SERVO
    // @Path: ../libraries/SRV_Channel/SRV_Channels.cpp
    AP_SUBGROUPINFO(servo_channels, "SERVO", 16, ParametersG2, SRV_Channels),

    // @Group: RC
    // @Path: ../libraries/RC_Channel/RC_Channels_VarInfo.h
    AP_SUBGROUPINFO(rc_channels, "RC", 17, ParametersG2, RC_Channels_Blimp),

    // @Param: PILOT_SPEED_DN
    // @DisplayName: Pilot maximum vertical speed descending
    // @Description: The maximum vertical descending velocity the pilot may request in cm/s
    // @Units: cm/s
    // @Range: 50 500
    // @Increment: 10
    // @User: Standard
    AP_GROUPINFO("PILOT_SPEED_DN", 24, ParametersG2, pilot_speed_dn, 0),

    // 30 was AP_Scripting

    // @Param: FS_VIBE_ENABLE
    // @DisplayName: Vibration Failsafe enable
    // @Description: This enables the vibration failsafe which will use modified altitude estimation and control during high vibrations
    // @Values: 0:Disabled, 1:Enabled
    // @User: Standard
    AP_GROUPINFO("FS_VIBE_ENABLE", 35, ParametersG2, fs_vibe_enabled, 1),

    // @Param: FS_OPTIONS
    // @DisplayName: Failsafe options bitmask
    // @Description: Bitmask of additional options for battery, radio, & GCS failsafes. 0 (default) disables all options.
    // @Bitmask: 4:Continue if in pilot controlled modes on GCS failsafe
    // @User: Advanced
    AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Blimp::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),

    // @Param: FS_GCS_TIMEOUT
    // @DisplayName: GCS failsafe timeout
    // @Description: Timeout before triggering the GCS failsafe
    // @Units: s
    // @Range: 2 120
    // @Increment: 1
    // @User: Standard
    AP_GROUPINFO("FS_GCS_TIMEOUT", 42, ParametersG2, fs_gcs_timeout, 5),

    AP_GROUPEND
};

/*
  constructor for g2 object
 */
ParametersG2::ParametersG2(void)
{
    AP_Param::setup_object_defaults(this, var_info);
}

void Blimp::load_parameters(void)
{
    AP_Vehicle::load_parameters(g.format_version, Parameters::k_format_version);

    static const AP_Param::G2ObjectConversion g2_conversions[] {
#if AP_STATS_ENABLED
    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
        { &stats, stats.var_info, 12 },
#endif
#if AP_SCRIPTING_ENABLED
    // PARAMETER_CONVERSION - Added: Jan-2024 for Copter-4.6
        { &scripting, scripting.var_info, 30 },
#endif
    };
    AP_Param::convert_g2_objects(&g2, g2_conversions, ARRAY_SIZE(g2_conversions));

    // PARAMETER_CONVERSION - Added: Feb-2024
#if HAL_LOGGING_ENABLED
    AP_Param::convert_class(g.k_param_logger, &logger, logger.var_info, 0, true);
#endif

    static const AP_Param::TopLevelObjectConversion toplevel_conversions[] {
#if AP_SERIALMANAGER_ENABLED
        // PARAMETER_CONVERSION - Added: Feb-2024
        { &serial_manager, serial_manager.var_info, Parameters::k_param_serial_manager_old },
#endif
    };

    AP_Param::convert_toplevel_objects(toplevel_conversions, ARRAY_SIZE(toplevel_conversions));

    // setup AP_Param frame type flags
    AP_Param::set_frame_type_flags(AP_PARAM_FRAME_BLIMP);

#if HAL_GCS_ENABLED
    // Move parameters into new MAV_ parameter namespace
    // PARAMETER_CONVERSION - Added: Mar-2025 for ArduPilot-4.7
    {
        static const AP_Param::ConversionInfo gcs_conversion_info[] {
            { Parameters::k_param_sysid_this_mav_old, 0, AP_PARAM_INT16,  "MAV_SYSID" },
            { Parameters::k_param_sysid_my_gcs_old, 0, AP_PARAM_INT16, "MAV_GCS_SYSID" },
            { Parameters::k_param_g2,  11, AP_PARAM_INT8, "MAV_OPTIONS" },
            { Parameters::k_param_telem_delay_old,  0, AP_PARAM_INT8, "MAV_TELEM_DELAY" },
        };
        AP_Param::convert_old_parameters(&gcs_conversion_info[0], ARRAY_SIZE(gcs_conversion_info));
    }
#endif  // HAL_GCS_ENABLED

}