#include "Sub.h"
extern mavlink_rov_state_monitoring_t rov_message;


// stabilize_init - initialise stabilize controller
bool Sub::sport_init()
{
    // set target altitude to zero for reporting
    pos_control.set_alt_target(0);
    if (prev_control_mode == ALT_HOLD) {
        last_roll = ahrs.roll_sensor;
        last_pitch = ahrs.pitch_sensor;
    } else {
        last_roll = 0;
        last_pitch = 0;
    }
    last_yaw = ahrs.yaw_sensor;
	pitch_input_inc=0;
	yaw_press = (int16_t)(ahrs.yaw_sensor/100);//记住方位
    last_input_ms = AP_HAL::millis();
    return true;
}

// stabilize_run - runs the main stabilize controller
// should be called at 100hz or more
void Sub::sport_run()
{
    // if not armed set throttle to zero and exit immediately
    if (!motors.armed()) {
        motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
        attitude_control.set_throttle_out(0,true,g.throttle_filt);
        attitude_control.relax_attitude_controllers();
        last_roll = 0;
        last_pitch = 0;
        last_yaw = ahrs.yaw_sensor;
		yaw_press = (int16_t)(ahrs.yaw_sensor/100);//记住方位
        return;
    }
    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
	uint32_t tnow = AP_HAL::millis();

    // get pilot desired lean angles
    float target_roll, target_pitch, target_yaw;

    // Check if set_attitude_target_no_gps is valid
    if (tnow - sub.set_attitude_target_no_gps.last_message_ms < 5000) {
        Quaternion(
            set_attitude_target_no_gps.packet.q
        ).to_euler(
            target_roll,
            target_pitch,
            target_yaw
        );
        target_roll = 100 * degrees(target_roll);
        target_pitch = 100 * degrees(target_pitch);
        target_yaw = 100 * degrees(target_yaw);
        last_roll = target_roll;
        last_pitch = target_pitch;
        last_yaw = target_yaw;
        
        attitude_control.input_euler_angle_roll_pitch_yaw(target_roll, target_pitch, target_yaw, true);
    } else {
        // If we don't have a mavlink attitude target, we use the pilot's input instead
        //get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
		get_pilot_desired_lean_angles((int16_t)(channel_lateral->norm_input()*5700), (int16_t)((0.5-channel_throttle->norm_input())*5700*2), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());

		target_yaw = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
        if (abs(target_roll) > 300 || abs(target_pitch) > 300) {
            last_roll = ahrs.roll_sensor;
            last_pitch = ahrs.pitch_sensor;
            last_yaw = ahrs.yaw_sensor;
            last_input_ms = tnow;
            attitude_control.input_rate_bf_roll_pitch_yaw(target_roll, target_pitch, target_yaw);
        } else if (abs(target_yaw) > 300) {
            // if only yaw is being controlled, don't update pitch and roll
            attitude_control.input_rate_bf_roll_pitch_yaw(0, 0, target_yaw);
            last_yaw = ahrs.yaw_sensor;
            last_input_ms = tnow;
        } else if (tnow < last_input_ms + 250) {
            // just brake for a few mooments so we don't bounce
            last_yaw = ahrs.yaw_sensor;
            attitude_control.input_rate_bf_roll_pitch_yaw(0, 0, 0);
        } else {
            // Lock attitude
            attitude_control.input_euler_angle_roll_pitch_yaw(last_roll, last_pitch, last_yaw, true);
        }
    }

   // handle_attitude();

    // output pilot's throttle
    //attitude_control.set_throttle_out(channel_throttle->norm_input(), false, g.throttle_filt);
	attitude_control.set_throttle_out(1.0-(float)PressLevel_f*0.1, false, g.throttle_filt);//压力分级
	rov_message.pressure_level = int(PressLevel);

    //control_in is range -1000-1000
    //radio_in is raw pwm value
    motors.set_forward(channel_forward->norm_input());
    //motors.set_lateral(channel_lateral->norm_input());
    
	motors.set_lateral(0);

	static int j = 0;
	  j++;
	  if(j>800)
	  {
	    	gcs().send_text(MAV_SEVERITY_INFO, " roll p y %d %d %d\n",(int16_t)(channel_lateral->norm_input()*5700),(int16_t)((0.5-channel_throttle->norm_input())*5700*2),channel_yaw->get_control_in());
	    	//gcs().send_text(MAV_SEVERITY_INFO, " throttle forward lateral %f %f %f \n",(float)PressLevel_f*0.1,channel_forward->norm_input());
	    	//gcs().send_text(MAV_SEVERITY_INFO, " channel_roll p y %d %d %d\n",channel_roll->get_control_in(),channel_pitch->get_control_in(),channel_yaw->get_control_in());
	    	//gcs().send_text(MAV_SEVERITY_INFO, " throttle forward lateral %f %f %f \n",channel_throttle->norm_input(),channel_forward->norm_input(),channel_lateral->norm_input());
			
			
			
		
		   j=0;
	  }
}