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 * modification, are permitted provided that the following conditions
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 *    used to endorse or promote products derived from this software
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/**
 * @file FlightTaskManual.cpp
 */

#include "FlightTaskManual.hpp"
#include <mathlib/mathlib.h>
#include <float.h>

using namespace matrix;

bool FlightTaskManual::initializeSubscriptions(SubscriptionArray &subscription_array)
{
	if (!FlightTask::initializeSubscriptions(subscription_array)) {
		return false;
	}

	if (!subscription_array.get(ORB_ID(manual_control_setpoint), _sub_manual_control_setpoint)) {
		return false;
	}

	return true;
}

bool FlightTaskManual::updateInitialize()
{
	bool ret = FlightTask::updateInitialize();
	const bool sticks_available = _evaluateSticks();

	if (_sticks_data_required) {
		ret = ret && sticks_available;
	}

	return ret;
}

bool FlightTaskManual::_evaluateSticks()
{
	/* Sticks are rescaled linearly and exponentially to [-1,1] */
	if ((_time_stamp_current - _sub_manual_control_setpoint->get().timestamp) < _timeout) {

		/* Linear scale  */
		_sticks(0) = _sub_manual_control_setpoint->get().x; /* NED x, "pitch" [-1,1] */
		_sticks(1) = _sub_manual_control_setpoint->get().y; /* NED y, "roll" [-1,1] */
		_sticks(2) = -(_sub_manual_control_setpoint->get().z - 0.5f) * 2.f; /* NED z, "thrust" resacaled from [0,1] to [-1,1] */
		_sticks(3) = _sub_manual_control_setpoint->get().r; /* "yaw" [-1,1] */

		/* Exponential scale */
		_sticks_expo(0) = math::expo_deadzone(_sticks(0), _xy_vel_man_expo.get(), _stick_dz.get());
		_sticks_expo(1) = math::expo_deadzone(_sticks(1), _xy_vel_man_expo.get(), _stick_dz.get());
		_sticks_expo(2) = math::expo_deadzone(_sticks(2), _z_vel_man_expo.get(), _stick_dz.get());

		return true;

	} else {
		/* Timeout: set all sticks to zero */
		_sticks.zero();
		_sticks_expo.zero();
		return false;
	}
}
