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/**
 * @file demo_offboard_position_Setpoints.cpp
 *
 * Demo for sending offboard position setpoints to mavros to show offboard position control in SITL
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
*/

#include "demo_offboard_attitude_setpoints.h"

#include <platforms/px4_middleware.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/Float64.h>
#include <math.h>
#include <tf/transform_datatypes.h>

DemoOffboardAttitudeSetpoints::DemoOffboardAttitudeSetpoints() :
	_n(),
	_attitude_sp_pub(_n.advertise<geometry_msgs::PoseStamped>("mavros/setpoint/attitude", 1)),
	_thrust_sp_pub(_n.advertise<std_msgs::Float64>("mavros/setpoint/att_throttle", 1))
{
}


int DemoOffboardAttitudeSetpoints::main()
{
	px4::Rate loop_rate(10);

	while (ros::ok()) {
		loop_rate.sleep();
		ros::spinOnce();

		/* Publish example offboard attitude setpoint */
		geometry_msgs::PoseStamped pose;
		tf::Quaternion q = tf::createQuaternionFromRPY(0.0, 0.1 * (sinf(0.5 * (float)px4::get_time_micros() / 1000000.0f)) , 0.0);
		quaternionTFToMsg(q, pose.pose.orientation);

		_attitude_sp_pub.publish(pose);

		std_msgs::Float64 thrust;
		thrust.data = 0.4f + 0.25 * (sinf((float)px4::get_time_micros() / 1000000.0f)); // just some example throttle input that makes the quad 'jump'
		_thrust_sp_pub.publish(thrust);
	}
	return 0;
}

int main(int argc, char **argv)
{
	ros::init(argc, argv, "demo_offboard_position_setpoints");
	DemoOffboardAttitudeSetpoints d;
	return d.main();
}