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/**
 * @file input_test.cpp
 * @author Beat Küng <beat-kueng@gmx.net>
 *
 */

#include "input_test.h"

#include <px4_posix.h>


namespace vmount
{

InputTest::InputTest(float roll_deg, float pitch_deg, float yaw_deg)
{
	_angles[0] = roll_deg;
	_angles[1] = pitch_deg;
	_angles[2] = yaw_deg;
}

bool InputTest::finished()
{
	return true; /* only a single-shot test (for now) */
}

int InputTest::update(unsigned int timeout_ms, ControlData **control_data, bool already_active)
{
	//we directly override the update() here, since we don't need the initialization from the base class

	_control_data.type = ControlData::Type::Angle;

	for (int i = 0; i < 3; ++i) {
		_control_data.type_data.angle.is_speed[i] = false;
		_control_data.type_data.angle.angles[i] = _angles[i] * M_DEG_TO_RAD_F;

		_control_data.stabilize_axis[i] = false;
	}

	_control_data.gimbal_shutter_retract = false;
	*control_data = &_control_data;
	return 0;
}

int InputTest::initialize()
{
	return 0;
}

void InputTest::print_status()
{
	PX4_INFO("Input: Test");
}

} /* namespace vmount */
