/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup ActuatorModule Actuator Module
 * @brief Compute servo/motor settings based on @ref ActuatorDesired "desired actuator positions" and aircraft type.
 * This is where all the mixing of channels is computed.
 * @{
 *
 * @file       actuator.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
 * @brief      Actuator module. Drives the actuators (servos, motors etc).
 *
 * @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
 */

#include "openpilot.h"
#include "actuator.h"
#include "actuatorsettings.h"
#include "vtolsettings.h"
#include "vtolstatus.h"
#include "systemsettings.h"
#include "actuatordesired.h"
#include "actuatorcommand.h"
#include "manualcontrolcommand.h"

//yaw stabilisation for helis...
#include "stabilizationsettings.h"
#include "attitudeactual.h"
//yaw stabilisation for helis...

// Private constants
#define MAX_QUEUE_SIZE 2
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define FAILSAFE_TIMEOUT_MS 100

// Private types
		//yaw stabilisation for helis...
		//currently just coppied from simple stabilisation
#define YAW_INTEGRAL_LIMIT 0.5
AttitudeActualData attitudeActual;
StabilizationSettingsData stabSettings;
float ccpmYawError, ccpmYawErrorLast;
float ccpmYawDerivative;
float ccpmYawIntegral, ccpmYawIntegralLimit;
float desiredYaw;
static float bound(float val, float min, float max);
		//yaw stabilisation for helis...

// Private variables
static xQueueHandle queue;
static xTaskHandle taskHandle;

// Private functions
static void actuatorTask(void *parameters);
static int32_t mixerFixedWing(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd);
static int32_t mixerFixedWingElevon(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd);
static int32_t mixerVTOL(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd);
static int32_t InterpolateCCPMCurve(float *Output, float input, const float *Curve);
static int32_t mixerCCPM(ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
static void setFailsafe();

static float bound(float val, float min, float max);

/**
 * @brief Module initialization
 * @return 0
 */
int32_t ActuatorInitialize()
{
	// Create object queue
	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));

	// Listen for ExampleObject1 updates
	ActuatorDesiredConnectQueue(queue);

	ccpmYawErrorLast = 0.0;

	// Start main task
	xTaskCreate(actuatorTask, (signed char *)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);

	return 0;
}

/**
 * @brief Main module task
 */
static void actuatorTask(void *parameters)
{
//      UAVObjEvent ev;
	ActuatorSettingsData settings;
	SystemSettingsData sysSettings;
	ActuatorDesiredData desired;
	ActuatorCommandData cmd;
	portTickType lastSysTime;

	// Set servo update frequency (done only on start-up)
	ActuatorSettingsGet(&settings);
	PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);

	// Go to the neutral (failsafe) values until an ActuatorDesired update is received
	setFailsafe();

	// Main task loop
	lastSysTime = xTaskGetTickCount();
	while (1) {
		// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
		/*if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
		   {
		   setFailsafe();
		   continue;
		   } */

		// Read settings
		ActuatorSettingsGet(&settings);
		SystemSettingsGet(&sysSettings);

		// Reset ActuatorCommand to neutral values
		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) {
			cmd.Channel[n] = settings.ChannelNeutral[n];
		}

		// Read input object
		ActuatorDesiredGet(&desired);

		// Call appropriate mixer depending on the airframe configuration
		if (sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING) {
			if (mixerFixedWing(&settings, &desired, &cmd) == -1) {
				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
			} else {
				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
			}
		} else if (sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON) {
			if (mixerFixedWingElevon(&settings, &desired, &cmd) == -1) {
				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
			} else {
				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
			}
		} else if (sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) {
			if (mixerVTOL(&settings, &desired, &cmd) == -1) {
				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
			} else {
				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
			}
		} else if (sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HELICP) {
			if (mixerCCPM(&settings, &desired, &cmd) == -1) {
				AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
			} else {
				AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
			}
		}
		// Update output object
		ActuatorCommandSet(&cmd);
		// Update in case read only (eg. during servo configuration)
		ActuatorCommandGet(&cmd);

		// Update servo outputs
		for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) {
			PIOS_Servo_Set(n, cmd.Channel[n]);
		}

		// Wait until next update
		vTaskDelayUntil(&lastSysTime, settings.UpdatePeriod / portTICK_RATE_MS);

	}
}

/**
 * Mixer for Fixed Wing airframes. Converts desired roll,pitch,yaw and throttle to servo outputs.
 * @return -1 if error, 0 if success
 */
static int32_t mixerFixedWing(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd)
{

	// Check settings
	if (settings->FixedWingPitch1 == ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE ||
	    settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
	    settings->FixedWingThrottle == ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE) {
		return -1;
	}

	ManualControlCommandData manualControl;
	ManualControlCommandGet(&manualControl);

	// Set pitch servo command
	cmd->Channel[settings->FixedWingPitch1] = scaleChannel(desired->Pitch, settings->ChannelMax[settings->FixedWingPitch1],
							       settings->ChannelMin[settings->FixedWingPitch1],
							       settings->ChannelNeutral[settings->FixedWingPitch1]);
	if (settings->FixedWingPitch2 != ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE) {
		cmd->Channel[settings->FixedWingPitch2] = scaleChannel(desired->Pitch, settings->ChannelMax[settings->FixedWingPitch2],
								       settings->ChannelMin[settings->FixedWingPitch2],
								       settings->ChannelNeutral[settings->FixedWingPitch2]);
	}
	// Set roll servo command
	cmd->Channel[settings->FixedWingRoll1] = scaleChannel(desired->Roll, settings->ChannelMax[settings->FixedWingRoll1],
							      settings->ChannelMin[settings->FixedWingRoll1],
							      settings->ChannelNeutral[settings->FixedWingRoll1]);
	if (settings->FixedWingRoll2 != ACTUATORSETTINGS_FIXEDWINGROLL2_NONE) {
		cmd->Channel[settings->FixedWingRoll2] = scaleChannel(desired->Roll, settings->ChannelMax[settings->FixedWingRoll2],
								      settings->ChannelMin[settings->FixedWingRoll2],
								      settings->ChannelNeutral[settings->FixedWingRoll2]);
	}
	// Set yaw servo command
	if (settings->FixedWingYaw != ACTUATORSETTINGS_FIXEDWINGYAW_NONE) {
		cmd->Channel[settings->FixedWingYaw] = scaleChannel(desired->Yaw, settings->ChannelMax[settings->FixedWingYaw],
								    settings->ChannelMin[settings->FixedWingYaw],
								    settings->ChannelNeutral[settings->FixedWingYaw]);
	}
	// Set throttle servo command
	if (manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE)
		cmd->Channel[settings->FixedWingThrottle] = scaleChannel(desired->Throttle, settings->ChannelMax[settings->FixedWingThrottle],
									 settings->ChannelMin[settings->FixedWingThrottle],
									 settings->ChannelNeutral[settings->FixedWingThrottle]);
	else
		cmd->Channel[settings->FixedWingThrottle] = -1;

	// Done
	return 0;
}

/**
 * Mixer for Fixed Wing airframes with elevons. Converts desired roll,pitch,yaw and throttle to servo outputs.
 * @return -1 if error, 0 if success
 */
static int32_t mixerFixedWingElevon(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd)
{
	// Check settings
	if (settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
	    settings->FixedWingRoll2 == ACTUATORSETTINGS_FIXEDWINGROLL2_NONE ||
	    settings->FixedWingThrottle == ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE) {
		return -1;
	}

	ManualControlCommandData manualControl;
	ManualControlCommandGet(&manualControl);

	// Set first elevon servo command
	cmd->Channel[settings->FixedWingRoll1] = scaleChannel(desired->Pitch + desired->Roll, settings->ChannelMax[settings->FixedWingRoll1],
							      settings->ChannelMin[settings->FixedWingRoll1],
							      settings->ChannelNeutral[settings->FixedWingRoll1]);

	// Set second elevon servo command
	cmd->Channel[settings->FixedWingRoll2] = scaleChannel(desired->Pitch - desired->Roll, settings->ChannelMax[settings->FixedWingRoll2],
							      settings->ChannelMin[settings->FixedWingRoll2],
							      settings->ChannelNeutral[settings->FixedWingRoll2]);

	// Set throttle servo command
	if (manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE)
		cmd->Channel[settings->FixedWingThrottle] = scaleChannel(desired->Throttle, settings->ChannelMax[settings->FixedWingThrottle],
									 settings->ChannelMin[settings->FixedWingThrottle],
									 settings->ChannelNeutral[settings->FixedWingThrottle]);
	else
		cmd->Channel[settings->FixedWingThrottle] = -1;

	// Done
	return 0;
}

/**
 * Mixer for VTOL (quads and octo copters). Converts desired roll,pitch,yaw and throttle to servo outputs.
 *
 * I will probably add settings to change the weighting for each control to each motor.  This will allow more
 * flexible support for various motor topologies.  For now hard coding in simple versions and lettings the
 * scaling capabilities fix the subtlties.
 *
 * Also, because of how the Throttle ranges from 0 to 1, the motors should too!
 *
 * @return -1 if error, 0 if success
 */
static int32_t mixerVTOL(const ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd)
{
	VTOLSettingsData vtolSettings;
	VTOLStatusData vtolStatus;
	VTOLSettingsGet(&vtolSettings);
	VTOLStatusGet(&vtolStatus);

	ManualControlCommandData manualControl;
	ManualControlCommandGet(&manualControl);

	const int vtolMin = -1;
	int vtolMax = -1;

	if ((manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE) && (desired->Throttle >= 0))
		vtolMax = 1;
	else
		vtolMax = -1;

	if (((settings->VTOLMotorN != ACTUATORSETTINGS_VTOLMOTORN_NONE) +
	     (settings->VTOLMotorNE != ACTUATORSETTINGS_VTOLMOTORS_NONE) +
	     (settings->VTOLMotorE != ACTUATORSETTINGS_VTOLMOTORE_NONE) +
	     (settings->VTOLMotorSE != ACTUATORSETTINGS_VTOLMOTORSE_NONE) +
	     (settings->VTOLMotorS != ACTUATORSETTINGS_VTOLMOTORS_NONE) +
	     (settings->VTOLMotorSW != ACTUATORSETTINGS_VTOLMOTORSW_NONE) +
	     (settings->VTOLMotorW != ACTUATORSETTINGS_VTOLMOTORW_NONE) + (settings->VTOLMotorNW != ACTUATORSETTINGS_VTOLMOTORNW_NONE)) <= 2) {
		return -1;	// can't fly with 2 or less engines (i believe)
	}

	if (settings->VTOLMotorN != ACTUATORSETTINGS_VTOLMOTORN_NONE) {
		vtolStatus.MotorN = desired->Throttle * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_PITCH] +
		    desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_ROLL] + desired->Yaw * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_YAW];
		cmd->Channel[settings->VTOLMotorN] = scaleChannel(bound(vtolStatus.MotorN, vtolMin, vtolMax),
								  settings->ChannelMax[settings->VTOLMotorN],
								  settings->ChannelMin[settings->VTOLMotorN],
								  settings->ChannelNeutral[settings->VTOLMotorN]);
	}
	if (settings->VTOLMotorNE != ACTUATORSETTINGS_VTOLMOTORNE_NONE) {
		vtolStatus.MotorNE = desired->Throttle * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_PITCH] +
		    desired->Roll * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_ROLL] + desired->Yaw * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_YAW];
		cmd->Channel[settings->VTOLMotorNE] = scaleChannel(bound(vtolStatus.MotorNE, vtolMin, vtolMax),
								   settings->ChannelMax[settings->VTOLMotorNE],
								   settings->ChannelMin[settings->VTOLMotorNE],
								   settings->ChannelNeutral[settings->VTOLMotorNE]);
	}
	if (settings->VTOLMotorE != ACTUATORSETTINGS_VTOLMOTORE_NONE) {
		vtolStatus.MotorE = desired->Throttle * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_PITCH] +
		    desired->Roll * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_ROLL] + desired->Yaw * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_YAW];
		cmd->Channel[settings->VTOLMotorE] = scaleChannel(bound(vtolStatus.MotorE, vtolMin, vtolMax),
								  settings->ChannelMax[settings->VTOLMotorE],
								  settings->ChannelMin[settings->VTOLMotorE],
								  settings->ChannelNeutral[settings->VTOLMotorE]);
	}
	if (settings->VTOLMotorSE != ACTUATORSETTINGS_VTOLMOTORSE_NONE) {
		vtolStatus.MotorSE = desired->Throttle * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_PITCH] +
		    desired->Roll * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_ROLL] + desired->Yaw * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_YAW];
		cmd->Channel[settings->VTOLMotorSE] = scaleChannel(bound(vtolStatus.MotorSE, vtolMin, vtolMax),
								   settings->ChannelMax[settings->VTOLMotorSE],
								   settings->ChannelMin[settings->VTOLMotorSE],
								   settings->ChannelNeutral[settings->VTOLMotorSE]);
	}
	if (settings->VTOLMotorS != ACTUATORSETTINGS_VTOLMOTORS_NONE) {
		vtolStatus.MotorS = desired->Throttle * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_PITCH] +
		    desired->Roll * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_ROLL] + desired->Yaw * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_YAW];
		cmd->Channel[settings->VTOLMotorS] = scaleChannel(bound(vtolStatus.MotorS, vtolMin, vtolMax),
								  settings->ChannelMax[settings->VTOLMotorS],
								  settings->ChannelMin[settings->VTOLMotorS],
								  settings->ChannelNeutral[settings->VTOLMotorS]);
	}
	if (settings->VTOLMotorSW != ACTUATORSETTINGS_VTOLMOTORSW_NONE) {
		vtolStatus.MotorSW = bound(desired->Throttle * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_THROTTLE] +
					   desired->Pitch * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_PITCH] +
					   desired->Roll * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_ROLL] +
					   desired->Yaw * vtolSettings.MotorSW[VTOLSETTINGS_MOTORSW_YAW], vtolMin, vtolMax);
		cmd->Channel[settings->VTOLMotorSW] = scaleChannel(vtolStatus.MotorSW,
								   settings->ChannelMax[settings->VTOLMotorSW],
								   settings->ChannelMin[settings->VTOLMotorSW],
								   settings->ChannelNeutral[settings->VTOLMotorSW]);
	}
	if (settings->VTOLMotorW != ACTUATORSETTINGS_VTOLMOTORW_NONE) {
		vtolStatus.MotorW = desired->Throttle * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_PITCH] +
		    desired->Roll * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_ROLL] + desired->Yaw * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_YAW];
		cmd->Channel[settings->VTOLMotorW] = scaleChannel(bound(vtolStatus.MotorW, vtolMin, vtolMax),
								  settings->ChannelMax[settings->VTOLMotorW],
								  settings->ChannelMin[settings->VTOLMotorW],
								  settings->ChannelNeutral[settings->VTOLMotorW]);
	}
	if (settings->VTOLMotorNW != ACTUATORSETTINGS_VTOLMOTORNW_NONE) {
		vtolStatus.MotorNW = desired->Throttle * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_THROTTLE] +
		    desired->Pitch * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_PITCH] +
		    desired->Roll * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_ROLL] + desired->Yaw * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_YAW];
		cmd->Channel[settings->VTOLMotorNW] = scaleChannel(bound(vtolStatus.MotorNW, vtolMin, vtolMax),
								   settings->ChannelMax[settings->VTOLMotorNW],
								   settings->ChannelMin[settings->VTOLMotorNW],
								   settings->ChannelNeutral[settings->VTOLMotorNW]);
	}
	VTOLStatusSet(&vtolStatus);

	return 0;
}

static int32_t InterpolateCCPMCurve(float *output, float input, const float *curve)
{
	int8_t curvIndex;
	float slope;
	float offset;
	float value;

	//determine which section of the 5 point curve we are on
	if (input <= .25) {
		curvIndex = 0;
		offset = 0;
	} else if (input <= .50) {
		curvIndex = 1;
		offset = 0.25;
	} else if (input <= .75) {
		curvIndex = 2;
		offset = 0.50;
	} else {
		curvIndex = 3;
		offset = 0.75;
	}

	//calculate the linear interpolation for the selected segment
	slope = (curve[curvIndex + 1] - curve[curvIndex]) / 0.25;
	value = curve[curvIndex] + ((input - offset) * slope);

	//bound the output to valid percentage values
	if (value > 100.0)
		value = 100.0;
	if (value < 0.0)
		value = 0.0;

	*output = value;

	return 0;

}

/**
 * Mixer for CCPM (single rotor helicopters). Converts desired roll,pitch,yaw and throttle to servo outputs.
 * @return -1 if error, 0 if success
 */
static int32_t mixerCCPM(ActuatorSettingsData * settings, const ActuatorDesiredData * desired, ActuatorCommandData * cmd)
{
#define degtorad  0.0174532925	//pi/180
	// TODO: Implement CCPM mixers
	int configOK;
	float curveValue;
	float throttle;
	float bladePitch;
	float CCPMCyclicConstant;
	float servoW;
	float servoX;
	float servoY;
	float servoZ;

	configOK = 0;

	//calculate the throttle value based on the curve - scale to 0.0 -> +1.0
	InterpolateCCPMCurve(&curveValue, desired->Throttle, settings->CCPMThrottleCurve);
	throttle = curveValue / 100.0;

	//calculate the Blade Pitch value based on the curve - scale to -1.0 -> +1.0
	InterpolateCCPMCurve(&curveValue, desired->Throttle, settings->CCPMPitchCurve);
	bladePitch = (curveValue / 50.0) - 1.0;

	//calculate how much Cyclic to apply to the mixing
	CCPMCyclicConstant = 1 - settings->CCPMCollectiveConstant;

	// Set ServoW servo command
	if (settings->CCPMServoW != ACTUATORSETTINGS_CCPMSERVOW_NONE) {
		servoW = (CCPMCyclicConstant * ((sin((settings->CCPMAngleW + settings->CCPMCorrectionAngle) * degtorad) * desired->Roll)
						+ (cos((settings->CCPMAngleW + settings->CCPMCorrectionAngle) * degtorad) * desired->Pitch)))
		    + (settings->CCPMCollectiveConstant * bladePitch);

		cmd->Channel[settings->CCPMServoW] = scaleChannel(servoW, settings->ChannelMax[settings->CCPMServoW],
								  settings->ChannelMin[settings->CCPMServoW],
								  settings->ChannelNeutral[settings->CCPMServoW]);
		configOK++;
	}
	// Set ServoX servo command
	if (settings->CCPMServoX != ACTUATORSETTINGS_CCPMSERVOX_NONE) {
		servoX = (CCPMCyclicConstant * ((sin((settings->CCPMAngleX + settings->CCPMCorrectionAngle) * degtorad) * desired->Roll)
						+ (cos((settings->CCPMAngleX + settings->CCPMCorrectionAngle) * degtorad) * desired->Pitch)))
		    + (settings->CCPMCollectiveConstant * bladePitch);

		cmd->Channel[settings->CCPMServoX] = scaleChannel(servoX, settings->ChannelMax[settings->CCPMServoX],
								  settings->ChannelMin[settings->CCPMServoX],
								  settings->ChannelNeutral[settings->CCPMServoX]);
		configOK++;
	}
	// Set ServoY servo command
	if (settings->CCPMServoY != ACTUATORSETTINGS_CCPMSERVOY_NONE) {
		servoY = (CCPMCyclicConstant * ((sin((settings->CCPMAngleY + settings->CCPMCorrectionAngle) * degtorad) * desired->Roll)
						+ (cos((settings->CCPMAngleY + settings->CCPMCorrectionAngle) * degtorad) * desired->Pitch)))
		    + (settings->CCPMCollectiveConstant * bladePitch);

		cmd->Channel[settings->CCPMServoY] = scaleChannel(servoY, settings->ChannelMax[settings->CCPMServoY],
								  settings->ChannelMin[settings->CCPMServoY],
								  settings->ChannelNeutral[settings->CCPMServoY]);
		configOK++;
	}
	// Set ServoZ servo command
	if (settings->CCPMServoZ != ACTUATORSETTINGS_CCPMSERVOZ_NONE) {
		servoZ = (CCPMCyclicConstant * ((sin((settings->CCPMAngleZ + settings->CCPMCorrectionAngle) * degtorad) * desired->Roll)
						+ (cos((settings->CCPMAngleZ + settings->CCPMCorrectionAngle) * degtorad) * desired->Pitch)))
		    + (settings->CCPMCollectiveConstant * bladePitch);

		cmd->Channel[settings->CCPMServoZ] = scaleChannel(servoZ, settings->ChannelMax[settings->CCPMServoZ],
								  settings->ChannelMin[settings->CCPMServoZ],
								  settings->ChannelNeutral[settings->CCPMServoZ]);
		configOK++;
	}

	// Set throttle servo command
	if (settings->CCPMThrottle != ACTUATORSETTINGS_CCPMTHROTTLE_NONE) {
		cmd->Channel[settings->CCPMThrottle] = scaleChannel(throttle, settings->ChannelMax[settings->CCPMThrottle],
								    settings->ChannelMin[settings->CCPMThrottle],
								    settings->ChannelNeutral[settings->CCPMThrottle]);
	} else {
		configOK = 0;
	}

	// Set TailRotor servo command
	if (settings->CCPMYawStabilizationInManualMode == ACTUATORSETTINGS_CCPMYAWSTABILIZATIONINMANUALMODE_FALSE) {	//update the servo as per the desired control mode (manual or stabalized)
		if (settings->CCPMTailRotor != ACTUATORSETTINGS_CCPMTAILROTOR_NONE) {
			cmd->Channel[settings->CCPMTailRotor] = scaleChannel(desired->Yaw, settings->ChannelMax[settings->CCPMTailRotor],
									     settings->ChannelMin[settings->CCPMTailRotor],
									     settings->ChannelNeutral[settings->CCPMTailRotor]);
		} else {
			configOK = 0;
		}
		ccpmYawErrorLast = 0.0;

	} else {		//TODO need to implement the stabilization PID loop to provide heading hold gyro functionality in manual control mode
		//currently just coppied from simple stabilisation

		AttitudeActualGet(&attitudeActual);
		StabilizationSettingsGet(&stabSettings);

		if (desired->Yaw < 0) {
			desiredYaw = 360 + (desired->Yaw * 180.0);
		} else {
			desiredYaw = (desired->Yaw * 180.0);
		}

		// Yaw stabilization control loop
		ccpmYawError = desiredYaw - attitudeActual.Yaw;
		//this should make it take the quickest path to reach the desired yaw
		if (ccpmYawError > 180.0)
			ccpmYawError -= 360;
		if (ccpmYawError < -180.0)
			ccpmYawError += 360;
		ccpmYawDerivative = ccpmYawError - ccpmYawErrorLast;
		ccpmYawIntegralLimit = YAW_INTEGRAL_LIMIT / stabSettings.YawKi;
		ccpmYawIntegral = bound(ccpmYawIntegral + ccpmYawError * stabSettings.UpdatePeriod, -ccpmYawIntegralLimit, ccpmYawIntegralLimit);
		desiredYaw = stabSettings.YawKp * ccpmYawError + stabSettings.YawKi * ccpmYawIntegral + stabSettings.YawKd * ccpmYawDerivative;;
		desiredYaw = bound(desiredYaw, -1.0, 1.0);
		ccpmYawErrorLast = ccpmYawError;
		if (settings->CCPMTailRotor != ACTUATORSETTINGS_CCPMTAILROTOR_NONE) {
			cmd->Channel[settings->CCPMTailRotor] = scaleChannel(desiredYaw, settings->ChannelMax[settings->CCPMTailRotor],
									     settings->ChannelMin[settings->CCPMTailRotor],
									     settings->ChannelNeutral[settings->CCPMTailRotor]);
		} else {
			configOK = 0;
		}
	}
	if (configOK < 2)
		return -1;
	return 0;
}

/**
 * Convert channel from -1/+1 to servo pulse duration in microseconds
 */
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
{
	int16_t valueScaled;
	// Scale
	if (value >= 0.0) {
		valueScaled = (int16_t) (value * ((float)(max - neutral))) + neutral;
	} else {
		valueScaled = (int16_t) (value * ((float)(neutral - min))) + neutral;
	}

	if (max > min) {
		if (valueScaled > max)
			valueScaled = max;
		if (valueScaled < min)
			valueScaled = min;
	} else {
		if (valueScaled < max)
			valueScaled = max;
		if (valueScaled > min)
			valueScaled = min;
	}

	return valueScaled;
}

/**
 * Set actuator output to the neutral values (failsafe)
 */
static void setFailsafe()
{
	ActuatorSettingsData settings;
	ActuatorCommandData cmd;

	// Read settings
	ActuatorSettingsGet(&settings);

	// Reset ActuatorCommand to neutral values
	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) {
		cmd.Channel[n] = settings.ChannelNeutral[n];
	}

	// Set alarm
	AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);

	// Update servo outputs
	for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n) {
		PIOS_Servo_Set(n, cmd.Channel[n]);
	}

	// Update output object
	ActuatorCommandSet(&cmd);
}

/**
 * Bound input value between limits
 */
static float bound(float val, float min, float max)
{
	if (val < min) {
		val = min;
	} else if (val > max) {
		val = max;
	}
	return val;
}

/**
 * @}
  * @}
  */