/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup CameraStab Camera Stabilization Module
 * @brief Camera stabilization module
 * Updates accessory outputs with values appropriate for camera stabilization
 * @{
 *
 * @file       camerastab.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Stabilize camera against the roll pitch and yaw of aircraft
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/**
 * Output object: Accessory
 *
 * This module will periodically calculate the output values for stabilizing the camera
 *
 * UAVObjects are automatically generated by the UAVObjectGenerator from
 * the object definition XML file.
 *
 * Modules have no API, all communication to other modules is done through UAVObjects.
 * However modules may use the API exposed by shared libraries.
 * See the OpenPilot wiki for more details.
 * http://www.openpilot.org/OpenPilot_Application_Architecture
 *
 */

#include "openpilot.h"

#include "accessorydesired.h"
#include "attitudeactual.h"

//
// Configuration
//
#define SAMPLE_PERIOD_MS		50

// Private types

// Private variables

// Private functions
static void attitudeUpdated(UAVObjEvent* ev);

/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t CameraStabInitialize(void)
{
	static UAVObjEvent ev;
	ev.obj = AttitudeActualHandle();
	ev.instId = 0;
	ev.event = 0;

	EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);

	return 0;
}

static void attitudeUpdated(UAVObjEvent* ev)
{
	if (ev->obj != AttitudeActualHandle())
		return;

	float attitude;
	AccessoryDesiredData accessory;
	float rollConst = 1.0/35.0;
	float pitchConst = 1.0/35.0;
	float yawConst = 1.0/35.0;
	
	
	AttitudeActualRollGet(&attitude);
	accessory.AccessoryVal = attitude * rollConst;
	if(AccessoryDesiredInstSet(0, &accessory) != 0)
		AccessoryDesiredCreateInstance();

	AttitudeActualPitchGet(&attitude);
	accessory.AccessoryVal = attitude * pitchConst;
	if(AccessoryDesiredInstSet(1, &accessory) != 0)
		AccessoryDesiredCreateInstance();

	AttitudeActualYawGet(&attitude);
	accessory.AccessoryVal = attitude * yawConst;
	if(AccessoryDesiredInstSet(2, &accessory) != 0)
		AccessoryDesiredCreateInstance();
}

/**
  * @}
  */

/**
 * @}
 */