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#include "FlightTaskManualPositionSmoothVel.hpp"

#include <mathlib/mathlib.h>
#include <float.h>

using namespace matrix;

bool FlightTaskManualPositionSmoothVel::activate()
{
	bool ret = FlightTaskManualPosition::activate();

	// TODO: get current accel
	for (int i = 0; i < 3; ++i) {
		_smoothing[i].reset(0.f, _velocity(i), _position(i));
	}

	return ret;
}

void FlightTaskManualPositionSmoothVel::_updateSetpoints()
{
	/* Get yaw setpont, un-smoothed position setpoints.*/
	FlightTaskManualPosition::_updateSetpoints();

	/* Update constraints */
	_smoothing[0].setMaxAccel(MPC_ACC_HOR_MAX.get());
	_smoothing[1].setMaxAccel(MPC_ACC_HOR_MAX.get());
	_smoothing[0].setMaxVel(_constraints.speed_xy);
	_smoothing[1].setMaxVel(_constraints.speed_xy);

	Vector2f vel_xy = Vector2f(&_velocity(0));
	float jerk = _jerk_max.get();

	if (_jerk_min.get() > _jerk_max.get()) {
		_jerk_min.set(0.f);
	}

	if (_jerk_min.get() > FLT_EPSILON) {
		// interpolate between min and max jerk
		jerk = math::min(_jerk_min.get() + (_jerk_max.get() - _jerk_min.get()) * vel_xy.length() / _constraints.speed_xy,
				 _jerk_max.get());
	}

	for (int i = 0; i < 2; ++i) {
		_smoothing[i].setMaxJerk(jerk);
		_smoothing[i].updateDurations(_deltatime, _velocity_setpoint(i));
	}

	VelocitySmoothing::timeSynchronization(_smoothing, 2);

	for (int i = 0; i < 2; ++i) {

		float smoothed_velocity_setpoint, smoothed_position_setpoint;
		_smoothing[i].integrate(_position(i), smoothed_velocity_setpoint, smoothed_position_setpoint);
		_position_setpoint(i) = smoothed_position_setpoint;
		_velocity_setpoint(i) = smoothed_velocity_setpoint;
	}

	// TODO: z
}