/*******************************
 *	EIVE Flight Software Framework (FSFW)
 * (c) 2022 IRS, Uni Stuttgart
 *******************************/

#ifndef ACSPARAMETERS_H_
#define ACSPARAMETERS_H_

#include <fsfw/parameters/HasParametersIF.h>

typedef unsigned char uint8_t;

class AcsParameters:public HasParametersIF{
public:

	AcsParameters();
	virtual ~AcsParameters();

	virtual ReturnValue_t getParameter(uint8_t domainId, uint16_t parameterId,
				ParameterWrapper *parameterWrapper,
				const ParameterWrapper *newValues, uint16_t startAtIndex);

	struct OnBoardParams {
		double sampleTime; // [s]
	} onBoardParams;

	struct InertiaEIVE {
		double inertiaMatrix[3][3];
		double inertiaMatrixInverse[3][3];
	} inertiaEIVE;

	struct MgmHandlingParameters {
		float mgm0orientationMatrix[3][3];
		float mgm1orientationMatrix[3][3];
		float mgm2orientationMatrix[3][3];
		float mgm3orientationMatrix[3][3];
		float mgm4orientationMatrix[3][3];
	} mgmHandlingParameters;

	struct SusHandlingParameters {
		float sus0orientationMatrix[3][3];
		float sus1orientationMatrix[3][3];
		float sus2orientationMatrix[3][3];
		float sus3orientationMatrix[3][3];
		float sus4orientationMatrix[3][3];
		float sus5orientationMatrix[3][3];
		float sus6orientationMatrix[3][3];
		float sus7orientationMatrix[3][3];
		float sus8orientationMatrix[3][3];
		float sus9orientationMatrix[3][3];
		float sus10orientationMatrix[3][3];
		float sus11orientationMatrix[3][3];

		float filterAlpha;
		float sunThresh;
	} susHandlingParameters;

	struct RmuHandlingParameters {
		double rmu0orientationMatrix[3][3];
		double rmu1orientationMatrix[3][3];
		double rmu2orientationMatrix[3][3];
	} rmuHandlingParameters;

	struct RwHandlingParameters {
		double rw0orientationMatrix[3][3];
		double rw1orientationMatrix[3][3];
		double rw2orientationMatrix[3][3];
		double rw3orientationMatrix[3][3];
		double inertiaWheel;
		double maxTrq;
	} rwHandlingParameters;

	struct SafeModeControllerParameters {
		double k_rate_mekf;
		double k_align_mekf;

		double k_rate_no_mekf;
		double k_align_no_mekf;
		double sunMagAngleMin;

		double sunTargetDir[3]; //Body frame
		double satRateRef[3]; //Body frame

	} safeModeControllerParameters;

	struct DetumbleCtrlParameters {

		double gainD;

	} detumbleCtrlParameters;


	struct PointingModeControllerParameters {
		double updtFlag;
		double A_rw[3][12];

		double refDirection[3];
		double refRotRate[3];
		double quatRef[4];
		bool avoidBlindStr;
		double blindAvoidStart;
		double blindAvoidStop;
		double blindRotRate;

		double zeta;
		double zetaLow;
		double om;
		double omLow;
		double qiMin;
		double omMax;
		double gainNullspace;

        double desatMomentumRef[3];
        double deSatGainFactor;
        bool desatOn;

        double omegaEarth;


	} inertialModeControllerParameters, nadirModeControllerParameters,
			targetModeControllerParameters;


	struct RWMatrices {
		double alignmentMatrix[3][4];
		double pseudoInverse[4][3];
		double without0[4][3];
		double without1[4][3];
		double without2[4][3];
		double without3[4][3];
		double nullspace[4];
	} rwMatrices;

	struct StrParameters {
		double exclusionAngle;
//		double strOrientationMatrix[3][3];
		double boresightAxis[3]; //in body/geometry frame
	} strParameters;

	struct GpsParameters {
	} gpsParameters;

	struct GroundStationParameters {
		double latitudeGs;  // [rad] Latitude
		double longitudeGs; // [rad] Longitude
		double altitudeGs;  // [m] Altitude
		double earthRadiusEquat; // [m]
		double earthRadiusPolar; // [m]
	} groundStationParameters;

	struct SunModelParameters {
		enum UseSunModel {
			NO = 0,  YES = 3
		};
		uint8_t useSunModel;
		float domega;
		float omega_0; //Rektaszension des Aufsteigenden Knotens plus Argument des Perigäums
		float m_0; //coefficients for mean anomaly
		float dm; //coefficients for mean anomaly
		float e; //angle of earth's rotation axis
		float e1;
		float p1; //some parameter
		float p2; //some parameter
	} sunModelParameters;

	struct KalmanFilterParameters {
		uint8_t activateKalmanFilter;
		uint8_t requestResetFlag;
		double maxToleratedTimeBetweenKalmanFilterExecutionSteps;
		double processNoiseOmega[3];
		double processNoiseQuaternion[4];

		double sensorNoiseSTR;
		double sensorNoiseSS;
		double sensorNoiseMAG;
		double sensorNoiseRMU[3];

		double sensorNoiseArwRmu; //Angular Random Walk
		double sensorNoiseBsRMU; // Bias Stability
	} kalmanFilterParameters;

	struct MagnetorquesParameter {

		double mtq0orientationMatrix[3][3];
		double mtq1orientationMatrix[3][3];
		double mtq2orientationMatrix[3][3];
		double alignmentMatrixMtq[3][3];
		double inverseAlignment[3][3];
		double DipolMax; // [Am^2]

	} magnetorquesParameter;

	struct DetumbleParameter {

		uint8_t detumblecounter;
		double omegaDetumbleStart;
		double omegaDetumbleEnd;
	} detumbleParameter;
};

#endif /* ACSPARAMETERS_H_ */