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/**
 * @file ActuatorEffectivenessStandardVTOL.hpp
 *
 * Actuator effectiveness for standard VTOL
 *
 * @author Julien Lecoeur <julien.lecoeur@gmail.com>
 */

#include "ActuatorEffectivenessStandardVTOL.hpp"

ActuatorEffectivenessStandardVTOL::ActuatorEffectivenessStandardVTOL()
{
	setFlightPhase(FlightPhase::HOVER_FLIGHT);
}

bool
ActuatorEffectivenessStandardVTOL::getEffectivenessMatrix(matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS> &matrix)
{
	if (!_updated) {
		return false;
	}

	switch (_flight_phase) {
	case FlightPhase::HOVER_FLIGHT:  {
			const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
				{-0.5f,  0.5f,  0.5f, -0.5f, 0.f, 0.0f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.5f, -0.5f,  0.5f, -0.5f, 0.f, 0.f, 0.f, 0.0f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.25f,  0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f,  0.f,  0.f,  0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f,  0.f,  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
			};
			matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
			break;
		}

	case FlightPhase::FORWARD_FLIGHT: {
			const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
				{ 0.f, 0.f, 0.f, 0.f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f, 0.f, 0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
			};
			matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
			break;
		}

	case FlightPhase::TRANSITION_HF_TO_FF:
	case FlightPhase::TRANSITION_FF_TO_HF: {
			const float standard_vtol[NUM_AXES][NUM_ACTUATORS] = {
				{ -0.5f,  0.5f,  0.5f, -0.5f, 0.f, -0.5f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{  0.5f, -0.5f,  0.5f, -0.5f, 0.f, 0.f, 0.f, 0.5f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{  0.25f,  0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{  0.f,  0.f,  0.f, 0.f, 1.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{  0.f,  0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
				{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
			};
			matrix = matrix::Matrix<float, NUM_AXES, NUM_ACTUATORS>(standard_vtol);
			break;
		}
	}

	_updated = false;
	return true;
}

void
ActuatorEffectivenessStandardVTOL::setFlightPhase(const FlightPhase &flight_phase)
{
	ActuatorEffectiveness::setFlightPhase(flight_phase);
	_updated = true;

}
