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 *   Copyright (c) 2013-2016 Estimation and Control Library (ECL). All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
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/**
 * @file ecl_roll_controller.cpp
 * Implementation of a simple orthogonal roll PID controller.
 *
 * Authors and acknowledgements in header.
 */

#include "ecl_roll_controller.h"
#include <float.h>
#include <geo/geo.h>
#include <mathlib/mathlib.h>

float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
{
	/* Do not calculate control signal with bad inputs */
	if (!(ISFINITE(ctl_data.roll_setpoint) && ISFINITE(ctl_data.roll))) {
		return _rate_setpoint;
	}

	/* Calculate error */
	float roll_error = ctl_data.roll_setpoint - ctl_data.roll;

	/* Apply P controller */
	_rate_setpoint = roll_error / _tc;

	return _rate_setpoint;
}

float ECL_RollController::control_bodyrate(const struct ECL_ControlData &ctl_data)
{
	/* Do not calculate control signal with bad inputs */
	if (!(ISFINITE(ctl_data.pitch) &&
	      ISFINITE(ctl_data.body_x_rate) &&
	      ISFINITE(ctl_data.body_z_rate) &&
	      ISFINITE(ctl_data.yaw_rate_setpoint) &&
	      ISFINITE(ctl_data.airspeed_min) &&
	      ISFINITE(ctl_data.airspeed_max) &&
	      ISFINITE(ctl_data.scaler))) {
		return math::constrain(_last_output, -1.0f, 1.0f);
	}

	/* get the usual dt estimate */
	uint64_t dt_micros = ecl_elapsed_time(&_last_run);
	_last_run = ecl_absolute_time();
	float dt = (float)dt_micros * 1e-6f;

	/* lock integral for long intervals */
	bool lock_integrator = ctl_data.lock_integrator;

	if (dt_micros > 500000) {
		lock_integrator = true;
	}

	/* Calculate body angular rate error */
	_rate_error = _bodyrate_setpoint - ctl_data.body_x_rate; //body angular rate error

	if (!lock_integrator && _k_i > 0.0f) {

		float id = _rate_error * dt * ctl_data.scaler;

		/*
		* anti-windup: do not allow integrator to increase if actuator is at limit
		*/
		if (_last_output < -1.0f) {
			/* only allow motion to center: increase value */
			id = math::max(id, 0.0f);

		} else if (_last_output > 1.0f) {
			/* only allow motion to center: decrease value */
			id = math::min(id, 0.0f);
		}

		/* add and constrain */
		_integrator = math::constrain(_integrator + id * _k_i, -_integrator_max, _integrator_max);
	}

	/* Apply PI rate controller and store non-limited output */
	_last_output = _bodyrate_setpoint * _k_ff * ctl_data.scaler +
		       _rate_error * _k_p * ctl_data.scaler * ctl_data.scaler
		       + _integrator;  //scaler is proportional to 1/airspeed

	return math::constrain(_last_output, -1.0f, 1.0f);
}

float ECL_RollController::control_euler_rate(const struct ECL_ControlData &ctl_data)
{
	/* Transform setpoint to body angular rates (jacobian) */
	_bodyrate_setpoint = ctl_data.roll_rate_setpoint - sinf(ctl_data.pitch) * ctl_data.yaw_rate_setpoint;

	set_bodyrate_setpoint(_bodyrate_setpoint);

	return control_bodyrate(ctl_data);

}