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#include <lib/mathlib/mathlib.h>
#include <px4_platform_common/module_params.h>
#include "../geofence.h"
#include <px4_platform_common/defines.h>


class Geofence;

#define GEOFENCE_CHECK_INTERVAL_US 200000

union geofence_violation_type_u {
	struct {
		bool dist_to_home_exceeded: 1;	///< 0 - distance to home exceeded
		bool max_altitude_exceeded: 1;	///< 1 - maximum altitude exceeded
		bool fence_violation: 1;	///< 2- violation of user defined fence
	} flags;
	uint8_t value;
};

class GeofenceBreachAvoidance : public ModuleParams
{
public:
	GeofenceBreachAvoidance(ModuleParams *parent);

	~GeofenceBreachAvoidance() = default;

	matrix::Vector2<double> getFenceViolationTestPoint();

	matrix::Vector2<double> waypointFromBearingAndDistance(matrix::Vector2<double> current_pos_lat_lon,
			float test_point_bearing, float test_point_distance);

	matrix::Vector2<double>
	generateLoiterPointForFixedWing(geofence_violation_type_u violation_type, Geofence *geofence);

	float computeBrakingDistanceMultirotor();

	float computeVerticalBrakingDistanceMultirotor();

	matrix::Vector2<double> generateLoiterPointForMultirotor(geofence_violation_type_u violation_type, Geofence *geofence);

	float generateLoiterAltitudeForFixedWing(geofence_violation_type_u violation_type);

	float generateLoiterAltitudeForMulticopter(geofence_violation_type_u violation_type);

	float getMinHorDistToFenceMulticopter() {return _min_hor_dist_to_fence_mc;}

	float getMinVertDistToFenceMultirotor() {return _min_vert_dist_to_fence_mc;}

	void setTestPointBearing(float test_point_bearing) { _test_point_bearing = test_point_bearing; }

	void setHorizontalTestPointDistance(float test_point_distance) { _test_point_distance = test_point_distance; }

	void setVerticalTestPointDistance(float distance) { _vertical_test_point_distance = distance; }

	void setHorizontalVelocity(float velocity_hor_abs) { _velocity_hor_abs = velocity_hor_abs; }

	void setClimbRate(float climbrate) { _climbrate = climbrate; }

	void setCurrentPosition(double lat, double lon, float alt);

	void setHomePosition(double lat, double lon, float alt);

	void setMaxHorDistHome(float dist) { _max_hor_dist_home = dist; }

	void setMaxVerDistHome(float dist) { _max_ver_dist_home = dist; }

	void updateParameters();

private:
	struct {
		param_t param_mpc_jerk_max;
		param_t param_mpc_acc_hor;
		param_t param_mpc_acc_hor_max;
		param_t param_mpc_jerk_auto;
		param_t param_mpc_acc_up_max;
		param_t param_mpc_acc_down_max;

	} _paramHandle;

	struct {
		float param_mpc_jerk_max;
		float param_mpc_acc_hor;
		float param_mpc_acc_hor_max;
		float param_mpc_jerk_auto;
		float param_mpc_acc_up_max;
		float param_mpc_acc_down_max;

	} _params;

	float _test_point_bearing{0.0f};
	float _test_point_distance{0.0f};
	float _vertical_test_point_distance{0.0f};
	float _velocity_hor_abs{0.0f};
	float _climbrate{0.0f};
	float _current_alt_amsl{0.0f};
	float _min_hor_dist_to_fence_mc{0.0f};
	float _min_vert_dist_to_fence_mc{0.0f};

	float _multirotor_braking_distance{0.0f};
	float _multirotor_vertical_braking_distance{0.0f};

	matrix::Vector2<double> _current_pos_lat_lon{};
	matrix::Vector2<double> _home_lat_lon {};
	float _home_alt_amsl{0.0f};

	float _max_hor_dist_home{0.0f};
	float _max_ver_dist_home{0.0f};

	void updateMinHorDistToFenceMultirotor();

	void updateMinVertDistToFenceMultirotor();

	matrix::Vector2<double> waypointFromHomeToTestPointAtDist(float distance);

};