#include "Sub.h"

// manual_init - initialise manual controller
bool Sub::manual_init()
{
    // set target altitude to zero for reporting
    pos_control.set_alt_target(0);

    // attitude hold inputs become thrust inputs in manual mode
    // set to neutral to prevent chaotic behavior (esp. roll/pitch)
    set_neutral_controls();
	updowmgain =0.5;

    return true;
}


extern mavlink_rov_state_monitoring_t rov_message;

void Sub::manual_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();
		PressLevel_f =5.0;
		PressLevel = no;
		updowmgain =0.5;
        return;
    }

    motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);

    motors.set_roll(0.0);//(channel_roll->norm_input());//左右移动改为roll
    motors.set_pitch((0.5-channel_throttle->norm_input())*2);//(channel_pitch->norm_input());//上升下潜改为pitch
    motors.set_yaw(channel_yaw->norm_input() * g.acro_yaw_p / ACRO_YAW_P);
   
    motors.set_forward(channel_forward->norm_input());
    motors.set_lateral(channel_lateral->norm_input());
	//motors.set_throttle(1.0-(float)PressLevel_f*0.1);//0-0.5下压
	float tt = gaindelay(1.0-(float)PressLevel_f*0.1);
	motors.set_throttle(tt);//0-0.5下压
	static int j = 0;
	
	  j++;
	  if(j>300)
	  {
	  	gcs().send_text(MAV_SEVERITY_INFO, " upgain %f\n",tt);//0~1.0
		  //gcs().send_text(MAV_SEVERITY_INFO, " throttle %f\n",getgainf(channel_throttle->norm_input()));//0~1.0
		 // gcs().send_text(MAV_SEVERITY_INFO, " yaw %f\n",getgainf(channel_yaw->norm_input()));//-1.0~1.0
		 // gcs().send_text(MAV_SEVERITY_INFO, " forward %f\n",getgainf(channel_forward->norm_input()));//-1.0~1.0
		 // gcs().send_text(MAV_SEVERITY_INFO, " lateral %f\n",getgainf(channel_lateral->norm_input()));//-1.0~1.0
	    	
		
		 // gcs().send_text(MAV_SEVERITY_INFO, " forward  %d %d %d %d\n",(int16_t)channel_forward->radio_in,(int16_t)channel_forward->radio_min,(int16_t)channel_forward->radio_max,(int16_t)channel_forward->radio_trim);
		 // gcs().send_text(MAV_SEVERITY_INFO, " lateral %d %d %d %d\n",(int16_t)channel_lateral->radio_in,(int16_t)channel_lateral->radio_min,(int16_t)channel_lateral->radio_max,(int16_t)channel_lateral->radio_trim);
		 // gcs().send_text(MAV_SEVERITY_INFO, " throttle %d %d %d %d\n",(int16_t)channel_throttle->radio_in,(int16_t)channel_throttle->radio_min,(int16_t)channel_throttle->radio_max,(int16_t)channel_throttle->radio_trim);
		//  gcs().send_text(MAV_SEVERITY_INFO, " yaw %d %d %d %d\n",(int16_t)channel_yaw->radio_in,(int16_t)channel_yaw->radio_min,(int16_t)channel_yaw->radio_max,(int16_t)channel_yaw->radio_trim);
		  j=0;
	  }
	rov_message.pressure_level = (int)PressLevel;
}