/*
 * Copyright (C) 2006  Pascal Brisset, Antoine Drouin, Michel Gorraz
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

/**
 *  @file firmwares/fixedwing/guidance/guidance_v.c
 *  Vertical control for fixed wing vehicles.
 *
 */

#include "firmwares/fixedwing/guidance/guidance_v.h"
#include "state.h"
#include "subsystems/nav.h"
#include "generated/airframe.h"
#include "firmwares/fixedwing/autopilot.h"

/* mode */
uint8_t v_ctl_mode;

/* outer loop */
float v_ctl_altitude_setpoint;
float v_ctl_altitude_pre_climb;
float v_ctl_altitude_pgain;
float v_ctl_altitude_error;
float v_ctl_altitude_pre_climb_correction;
float v_ctl_altitude_max_climb;

/* inner loop */
float v_ctl_climb_setpoint;
uint8_t v_ctl_climb_mode;
uint8_t v_ctl_auto_throttle_submode;

#ifndef V_CTL_AUTO_THROTTLE_DGAIN
#define V_CTL_AUTO_THROTTLE_DGAIN 0.
#endif

/* "auto throttle" inner loop parameters */
float v_ctl_auto_throttle_cruise_throttle;
float v_ctl_auto_throttle_nominal_cruise_throttle;
float v_ctl_auto_throttle_min_cruise_throttle;
float v_ctl_auto_throttle_max_cruise_throttle;
float v_ctl_auto_throttle_climb_throttle_increment;
float v_ctl_auto_throttle_pgain;
float v_ctl_auto_throttle_igain;
float v_ctl_auto_throttle_dgain;
float v_ctl_auto_throttle_sum_err;
#define V_CTL_AUTO_THROTTLE_MAX_SUM_ERR 150
float v_ctl_auto_throttle_pitch_of_vz_pgain;
float v_ctl_auto_throttle_pitch_of_vz_dgain;

#ifndef V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN
#define V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN 0.
#endif

/* agressive tuning */
#ifdef TUNE_AGRESSIVE_CLIMB
float agr_climb_throttle;
float agr_climb_pitch;
float agr_climb_nav_ratio;
float agr_descent_throttle;
float agr_descent_pitch;
float agr_descent_nav_ratio;
#endif

/* "auto pitch" inner loop parameters */
float v_ctl_auto_pitch_pgain;
float v_ctl_auto_pitch_igain;
float v_ctl_auto_pitch_sum_err;
#define V_CTL_AUTO_PITCH_MAX_SUM_ERR 100

pprz_t v_ctl_throttle_setpoint;
pprz_t v_ctl_throttle_slewed;
float v_ctl_pitch_setpoint;

inline static void v_ctl_climb_auto_throttle_loop( void );
#ifdef V_CTL_AUTO_PITCH_PGAIN
inline static void v_ctl_climb_auto_pitch_loop( void );
#endif

#if USE_AIRSPEED
float v_ctl_auto_airspeed_setpoint;
float v_ctl_auto_airspeed_controlled;
float v_ctl_auto_airspeed_pgain;
float v_ctl_auto_airspeed_igain;
float v_ctl_auto_airspeed_sum_err;
float v_ctl_auto_groundspeed_setpoint;
float v_ctl_auto_groundspeed_pgain;
float v_ctl_auto_groundspeed_igain;
float v_ctl_auto_groundspeed_sum_err;
#define V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR 200
#define V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR 100
#define V_CTL_AUTO_CLIMB_LIMIT 0.5/4.0 // m/s/s
#define V_CTL_AUTO_AGR_CLIMB_GAIN 2.0 // altitude gain multiplier while in aggressive climb mode
#endif

#ifndef V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION
#define V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION 1.0f
#endif


void v_ctl_init( void ) {
  /* mode */
  v_ctl_mode = V_CTL_MODE_MANUAL;

  /* outer loop */
  v_ctl_altitude_setpoint = 0.;
  v_ctl_altitude_pre_climb = 0.;
  v_ctl_altitude_pgain = V_CTL_ALTITUDE_PGAIN;
  v_ctl_altitude_error = 0.;
  v_ctl_altitude_pre_climb_correction = V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION;
  v_ctl_altitude_max_climb = V_CTL_ALTITUDE_MAX_CLIMB;

  /* inner loops */
  v_ctl_climb_setpoint = 0.;
  v_ctl_climb_mode = V_CTL_CLIMB_MODE_AUTO_THROTTLE;
  v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_STANDARD;

  /* "auto throttle" inner loop parameters */
  v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
  v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE;
  v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE;
  v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
  v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
  v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN;
  v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;
  v_ctl_auto_throttle_dgain = V_CTL_AUTO_THROTTLE_DGAIN;
  v_ctl_auto_throttle_sum_err = 0.;
  v_ctl_auto_throttle_pitch_of_vz_pgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_PGAIN;
  v_ctl_auto_throttle_pitch_of_vz_dgain = V_CTL_AUTO_THROTTLE_PITCH_OF_VZ_DGAIN;

#ifdef V_CTL_AUTO_PITCH_PGAIN
  /* "auto pitch" inner loop parameters */
  v_ctl_auto_pitch_pgain = V_CTL_AUTO_PITCH_PGAIN;
  v_ctl_auto_pitch_igain = V_CTL_AUTO_PITCH_IGAIN;
  v_ctl_auto_pitch_sum_err = 0.;
#endif

#if USE_AIRSPEED
  v_ctl_auto_airspeed_setpoint = V_CTL_AUTO_AIRSPEED_SETPOINT;
  v_ctl_auto_airspeed_controlled = V_CTL_AUTO_AIRSPEED_SETPOINT;
  v_ctl_auto_airspeed_pgain = V_CTL_AUTO_AIRSPEED_PGAIN;
  v_ctl_auto_airspeed_igain = V_CTL_AUTO_AIRSPEED_IGAIN;
  v_ctl_auto_airspeed_sum_err = 0.;

  v_ctl_auto_groundspeed_setpoint = V_CTL_AUTO_GROUNDSPEED_SETPOINT;
  v_ctl_auto_groundspeed_pgain = V_CTL_AUTO_GROUNDSPEED_PGAIN;
  v_ctl_auto_groundspeed_igain = V_CTL_AUTO_GROUNDSPEED_IGAIN;
  v_ctl_auto_groundspeed_sum_err = 0.;
#endif

  v_ctl_throttle_setpoint = 0;

/*agressive tuning*/
#ifdef TUNE_AGRESSIVE_CLIMB
  agr_climb_throttle = AGR_CLIMB_THROTTLE;
  #undef   AGR_CLIMB_THROTTLE
  #define AGR_CLIMB_THROTTLE agr_climb_throttle
  agr_climb_pitch = AGR_CLIMB_PITCH;
  #undef   AGR_CLIMB_PITCH
  #define   AGR_CLIMB_PITCH agr_climb_pitch
  agr_climb_nav_ratio = AGR_CLIMB_NAV_RATIO;
  #undef   AGR_CLIMB_NAV_RATIO
  #define   AGR_CLIMB_NAV_RATIO agr_climb_nav_ratio
  agr_descent_throttle = AGR_DESCENT_THROTTLE;
  #undef   AGR_DESCENT_THROTTLE
  #define   AGR_DESCENT_THROTTLE agr_descent_throttle
  agr_descent_pitch = AGR_DESCENT_PITCH;
  #undef   AGR_DESCENT_PITCH
  #define   AGR_DESCENT_PITCH agr_descent_pitch
  agr_descent_nav_ratio = AGR_DESCENT_NAV_RATIO;
  #undef   AGR_DESCENT_NAV_RATIO
  #define   AGR_DESCENT_NAV_RATIO agr_descent_nav_ratio
#endif
}

/**
 * outer loop
 * \brief Computes v_ctl_climb_setpoint and sets v_ctl_auto_throttle_submode
 */
void v_ctl_altitude_loop( void ) {
  float altitude_pgain_boost = 1.0;

#if USE_AIRSPEED && defined(AGR_CLIMB)
  // Aggressive climb mode (boost gain of altitude loop)
  if ( v_ctl_climb_mode == V_CTL_CLIMB_MODE_AUTO_THROTTLE) {
    float dist = fabs(v_ctl_altitude_error);
    altitude_pgain_boost = 1.0 + (V_CTL_AUTO_AGR_CLIMB_GAIN-1.0)*(dist-AGR_BLEND_END)/(AGR_BLEND_START-AGR_BLEND_END);
    Bound(altitude_pgain_boost, 1.0, V_CTL_AUTO_AGR_CLIMB_GAIN);
  }
#endif

  v_ctl_altitude_error = v_ctl_altitude_setpoint - stateGetPositionUtm_f()->alt;
  v_ctl_climb_setpoint = altitude_pgain_boost * v_ctl_altitude_pgain * v_ctl_altitude_error
    + v_ctl_altitude_pre_climb * v_ctl_altitude_pre_climb_correction;
  BoundAbs(v_ctl_climb_setpoint, v_ctl_altitude_max_climb);

#ifdef AGR_CLIMB
  if ( v_ctl_climb_mode == V_CTL_CLIMB_MODE_AUTO_THROTTLE) {
    float dist = fabs(v_ctl_altitude_error);
    if (dist < AGR_BLEND_END) {
      v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_STANDARD;
    }
    else if (dist > AGR_BLEND_START) {
      v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_AGRESSIVE;
    }
    else {
      v_ctl_auto_throttle_submode = V_CTL_AUTO_THROTTLE_BLENDED;
    }
  }
#endif
}

void v_ctl_climb_loop ( void ) {
  switch (v_ctl_climb_mode) {
  case V_CTL_CLIMB_MODE_AUTO_THROTTLE:
  default:
    v_ctl_climb_auto_throttle_loop();
    break;
#ifdef V_CTL_AUTO_PITCH_PGAIN
#pragma message "AUTO PITCH Enabled!"
  case V_CTL_CLIMB_MODE_AUTO_PITCH:
    v_ctl_climb_auto_pitch_loop();
    break;
#endif
  }
}

/**
 * auto throttle inner loop
 * \brief
 */

#if !USE_AIRSPEED

inline static void v_ctl_climb_auto_throttle_loop(void) {
  static float last_err;

  float f_throttle = 0;
  float err  = stateGetSpeedEnu_f()->z - v_ctl_climb_setpoint;
  float d_err = err - last_err;
  last_err = err;
  float controlled_throttle = v_ctl_auto_throttle_cruise_throttle
    + v_ctl_auto_throttle_climb_throttle_increment * v_ctl_climb_setpoint
    - v_ctl_auto_throttle_pgain *
    (err + v_ctl_auto_throttle_igain * v_ctl_auto_throttle_sum_err
     + v_ctl_auto_throttle_dgain * d_err);

  /* pitch pre-command */
  float v_ctl_pitch_of_vz = (v_ctl_climb_setpoint + d_err * v_ctl_auto_throttle_pitch_of_vz_dgain) * v_ctl_auto_throttle_pitch_of_vz_pgain;

#if defined AGR_CLIMB
  switch (v_ctl_auto_throttle_submode) {
  case V_CTL_AUTO_THROTTLE_AGRESSIVE:
    if (v_ctl_climb_setpoint > 0) { /* Climbing */
      f_throttle =  AGR_CLIMB_THROTTLE;
      v_ctl_pitch_setpoint = AGR_CLIMB_PITCH;
    }
    else { /* Going down */
      f_throttle =  AGR_DESCENT_THROTTLE;
      v_ctl_pitch_setpoint = AGR_DESCENT_PITCH;
    }
    break;

  case V_CTL_AUTO_THROTTLE_BLENDED: {
    float ratio = (fabs(v_ctl_altitude_error) - AGR_BLEND_END)
      / (AGR_BLEND_START - AGR_BLEND_END);
    f_throttle = (1-ratio) * controlled_throttle;
    v_ctl_pitch_setpoint = (1-ratio) * v_ctl_pitch_of_vz;
    v_ctl_auto_throttle_sum_err += (1-ratio) * err;
    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR);
    /* positive error -> too low */
    if (v_ctl_altitude_error > 0) {
      f_throttle +=  ratio * AGR_CLIMB_THROTTLE;
      v_ctl_pitch_setpoint += ratio * AGR_CLIMB_PITCH;
    } else {
      f_throttle += ratio * AGR_DESCENT_THROTTLE;
      v_ctl_pitch_setpoint += ratio * AGR_DESCENT_PITCH;
    }
    break;
  }

  case V_CTL_AUTO_THROTTLE_STANDARD:
  default:
#endif
    f_throttle = controlled_throttle;
    v_ctl_auto_throttle_sum_err += err;
    BoundAbs(v_ctl_auto_throttle_sum_err, V_CTL_AUTO_THROTTLE_MAX_SUM_ERR);
    v_ctl_pitch_setpoint = v_ctl_pitch_of_vz + nav_pitch;
#if defined AGR_CLIMB
    break;
  } /* switch submode */
#endif

  v_ctl_throttle_setpoint = TRIM_UPPRZ(f_throttle * MAX_PPRZ);
}

#else // USE_AIRSPEED

inline static void v_ctl_climb_auto_throttle_loop(void) {
  float f_throttle = 0;
  float controlled_throttle;
  float v_ctl_pitch_of_vz;

  // Limit rate of change of climb setpoint (to ensure that airspeed loop can catch-up)
  static float v_ctl_climb_setpoint_last = 0;
  float diff_climb = v_ctl_climb_setpoint - v_ctl_climb_setpoint_last;
  Bound(diff_climb, -V_CTL_AUTO_CLIMB_LIMIT, V_CTL_AUTO_CLIMB_LIMIT);
  v_ctl_climb_setpoint = v_ctl_climb_setpoint_last + diff_climb;
  v_ctl_climb_setpoint_last = v_ctl_climb_setpoint;

  // Pitch control (input: rate of climb error, output: pitch setpoint)
  float err  = stateGetSpeedEnu_f()->z - v_ctl_climb_setpoint;
  v_ctl_auto_pitch_sum_err += err;
  BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
  v_ctl_pitch_of_vz = -v_ctl_auto_pitch_pgain *
    (err + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err);

  // Ground speed control loop (input: groundspeed error, output: airspeed controlled)
  float err_groundspeed = (v_ctl_auto_groundspeed_setpoint - *stateGetHorizontalSpeedNorm_f());
  v_ctl_auto_groundspeed_sum_err += err_groundspeed;
  BoundAbs(v_ctl_auto_groundspeed_sum_err, V_CTL_AUTO_GROUNDSPEED_MAX_SUM_ERR);
  v_ctl_auto_airspeed_controlled = (err_groundspeed + v_ctl_auto_groundspeed_sum_err * v_ctl_auto_groundspeed_igain) * v_ctl_auto_groundspeed_pgain;

  // Do not allow controlled airspeed below the setpoint
  if (v_ctl_auto_airspeed_controlled < v_ctl_auto_airspeed_setpoint) {
    v_ctl_auto_airspeed_controlled = v_ctl_auto_airspeed_setpoint;
    v_ctl_auto_groundspeed_sum_err = v_ctl_auto_airspeed_controlled/(v_ctl_auto_groundspeed_pgain*v_ctl_auto_groundspeed_igain); // reset integrator of ground speed loop
  }

  // Airspeed control loop (input: airspeed controlled, output: throttle controlled)
  float err_airspeed = (v_ctl_auto_airspeed_controlled - *stateGetAirspeed_f());
  v_ctl_auto_airspeed_sum_err += err_airspeed;
  BoundAbs(v_ctl_auto_airspeed_sum_err, V_CTL_AUTO_AIRSPEED_MAX_SUM_ERR);
  controlled_throttle = (err_airspeed + v_ctl_auto_airspeed_sum_err * v_ctl_auto_airspeed_igain) * v_ctl_auto_airspeed_pgain;

  // Done, set outputs
  Bound(controlled_throttle, 0, v_ctl_auto_throttle_max_cruise_throttle);
  f_throttle = controlled_throttle;
  v_ctl_pitch_setpoint = v_ctl_pitch_of_vz;
  v_ctl_throttle_setpoint = TRIM_UPPRZ(f_throttle * MAX_PPRZ);
  Bound(v_ctl_pitch_setpoint, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
}

#endif // USE_AIRSPEED


/**
 * auto pitch inner loop
 * \brief computes a v_ctl_pitch_setpoint from a climb_setpoint given a fixed throttle
 */
#ifdef V_CTL_AUTO_PITCH_PGAIN
inline static void v_ctl_climb_auto_pitch_loop(void) {
  float err  = stateGetSpeedEnu_f()->z - v_ctl_climb_setpoint;
  v_ctl_throttle_setpoint = nav_throttle_setpoint;
  v_ctl_auto_pitch_sum_err += err;
  BoundAbs(v_ctl_auto_pitch_sum_err, V_CTL_AUTO_PITCH_MAX_SUM_ERR);
  v_ctl_pitch_setpoint = -v_ctl_auto_pitch_pgain *
    (err + v_ctl_auto_pitch_igain * v_ctl_auto_pitch_sum_err);
  Bound(v_ctl_pitch_setpoint, V_CTL_AUTO_PITCH_MIN_PITCH, V_CTL_AUTO_PITCH_MAX_PITCH);
}
#endif

#ifdef V_CTL_THROTTLE_SLEW_LIMITER
#define V_CTL_THROTTLE_SLEW (1./CONTROL_FREQUENCY/(V_CTL_THROTTLE_SLEW_LIMITER))
#endif

#ifndef V_CTL_THROTTLE_SLEW
#define V_CTL_THROTTLE_SLEW 1.
#endif
/** \brief Computes slewed throttle from throttle setpoint
    called at 20Hz
 */
void v_ctl_throttle_slew( void ) {
  pprz_t diff_throttle = v_ctl_throttle_setpoint - v_ctl_throttle_slewed;
  BoundAbs(diff_throttle, TRIM_PPRZ(V_CTL_THROTTLE_SLEW*MAX_PPRZ));
  v_ctl_throttle_slewed += diff_throttle;
}
