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/**
 * @file ecl_roll_controller.cpp
 * Implementation of a simple orthogonal roll PID controller.
 *
 * Authors and acknowledgements in header.
 */

#include "../ecl.h"
#include "ecl_roll_controller.h"
#include <stdint.h>
#include <float.h>
#include <geo/geo.h>
#include <ecl/ecl.h>
#include <mathlib/mathlib.h>
#include <systemlib/err.h>

ECL_RollController::ECL_RollController() :
	_last_run(0),
	_tc(0.1f),
	_k_p(0.0f),
	_k_i(0.0f),
	_k_ff(0.0f),
	_integrator_max(0.0f),
	_max_rate(0.0f),
	_last_output(0.0f),
	_integrator(0.0f),
	_rate_error(0.0f),
	_rate_setpoint(0.0f),
	_bodyrate_setpoint(0.0f)
{
}

float ECL_RollController::control_attitude(float roll_setpoint, float roll)
{
	/* Do not calculate control signal with bad inputs */
	if (!(isfinite(roll_setpoint) && isfinite(roll))) {
		return _rate_setpoint;
	}

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

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

	/* limit the rate */ //XXX: move to body angluar rates
	if (_max_rate > 0.01f) {
		_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
		_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;
	}

	return _rate_setpoint;
}

float ECL_RollController::control_bodyrate(float pitch,
		float roll_rate, float yaw_rate,
		float yaw_rate_setpoint,
		float airspeed_min, float airspeed_max, float airspeed, float scaler, bool lock_integrator)
{
	/* Do not calculate control signal with bad inputs */
	if (!(isfinite(pitch) && isfinite(roll_rate) && isfinite(yaw_rate) && isfinite(yaw_rate_setpoint) &&
			isfinite(airspeed_min) && isfinite(airspeed_max) &&
			isfinite(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 */
	if (dt_micros > 500000)
		lock_integrator = true;

//	float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
	float k_ff = 0; //xxx: param

	/* input conditioning */
//	warnx("airspeed pre %.4f", (double)airspeed);
	if (!isfinite(airspeed)) {
		/* airspeed is NaN, +- INF or not available, pick center of band */
		airspeed = 0.5f * (airspeed_min + airspeed_max);
	} else if (airspeed < airspeed_min) {
		airspeed = airspeed_min;
	}


	/* Transform setpoint to body angular rates */
	_bodyrate_setpoint = _rate_setpoint - sinf(pitch) * yaw_rate_setpoint; //jacobian

	/* Transform estimation to body angular rates */
	float roll_bodyrate = roll_rate - sinf(pitch) * yaw_rate; //jacobian

	/* Calculate body angular rate error */
	_rate_error = _bodyrate_setpoint - roll_bodyrate; //body angular rate error

	if (!lock_integrator && _k_i > 0.0f && airspeed > 0.5f * airspeed_min) {

		float id = _rate_error * dt;

		/*
		* 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);
		}

		_integrator += id;
	}

	/* integrator limit */
	//xxx: until start detection is available: integral part in control signal is limited here
	float integrator_constrained = math::constrain(_integrator * _k_i, -_integrator_max, _integrator_max);
	//warnx("roll: _integrator: %.4f, _integrator_max: %.4f", (double)_integrator, (double)_integrator_max);

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

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

void ECL_RollController::reset_integrator()
{
	_integrator = 0.0f;
}