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/**
 * @file StickYaw.hpp
 * @brief Generate yaw and angular yawspeed setpoints from stick input
 * @author Matthias Grob <maetugr@gmail.com>
 */

#pragma once

#include "SlewRate.hpp"

class StickYaw
{
public:
	StickYaw() = default;
	~StickYaw() = default;

	void generateYawSetpoint(float &yawspeed_setpoint, float &yaw_setpoint, const float desired_yawspeed, const float yaw,
				 const float deltatime);

private:
	SlewRate<float> _yawspeed_slew_rate;

	/**
	 * Lock yaw when not currently turning
	 * When applying a yawspeed the vehicle is turning, when the speed is
	 * set to zero the vehicle needs to slow down and then lock at the yaw
	 * it stops at to not drift over time.
	 * @param yawspeed current yaw rotational rate state
	 * @param yaw current yaw rotational rate state
	 * @param yawspeed_setpoint rotation rate at which to turn around yaw axis
	 * @param yaw current yaw setpoint which then will be overwritten by the return value
	 * @return yaw setpoint to execute to have a yaw lock at the correct moment in time
	 */
	static float updateYawLock(const float yaw, const float yawspeed_setpoint, const float yaw_setpoint);
};
