/*
 * 配置相关
 */

/* Includes ----------------------------------------------------------------- */
#include "module/config.h"


/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */

/* Exported variables ------------------------------------------------------- */

// 机器人参数配置
Config_RobotParam_t robot_config = {
    .quad_params = {
        .ctrl_freq = {
            .pos_alt=100,
            .pos_vel=100,
            .att_agl=250,
            .att_omg=1000
        },

        .baseThrottle=0.3,

        .pid = {
            .pit_agl = {
                .k = 1.0f,
                .p = 0.8f,
                .i = 0.05f,
                .d = 0.0f,
                .i_limit = 0.3f,
                .out_limit = 1.0f,
                .d_cutoff_freq = 0.0f,
                .range = 0.0f
            },
            .rol_agl = {
                .k = 1.0f,
                .p = 0.8f,
                .i = 0.05f,
                .d = 0.0f,
                .i_limit = 0.3f,
                .out_limit = 1.0f,
                .d_cutoff_freq = 0.0f,
                .range = 0.0f
            },
            .yaw_agl = {
                .k = 1.0f,
                .p = 0.8f,
                .i = 0.05f,
                .d = 0.0f,
                .i_limit = 0.3f,
                .out_limit = 1.0f,
                .d_cutoff_freq = 0.0f,
                .range = 0.0f
            },
            .pit_omg = {
                .k = 1.0f,
                .p = 0.25f,
                .i = 0.05f,
                .d = 0.01f,
                .i_limit = 0.05f,
                .out_limit = 0.2f,
                .d_cutoff_freq = 30.0f,
                .range = 0.0f
            },
            .rol_omg = {
                .k = 1.0f,
                .p = 0.25f,
                .i = 0.05f,
                .d = 0.01f,
                .i_limit = 0.05f,
                .out_limit = 0.2f,
                .d_cutoff_freq = 30.0f,
                .range = 0.0f
            },
            .yaw_omg = {
                .k = 1.0f,
                .p = 0.25f,
                .i = 0.05f,
                .d = 0.01f,
                .i_limit = 0.05f,
                .out_limit = 0.2f,
                .d_cutoff_freq = 30.0f,
                .range = 0.0f
            },
			.alt_pos = {
                .k = 0.25f,
                .p = 1.0f,          
                .i = 0.05f,          
                .d = 0.00f,          
                .i_limit = 0.5f,
                .out_limit = 3.0f,   
                .d_cutoff_freq = 0.0f,
                .range = 0.0f
            },
			.alt_vel = {
                .k = 0.08f,
                .p = 2.2f, 
                .i = 0.05f,          
                .d = 0.01f,          
                .i_limit = 0.05f,
                .out_limit = 0.2f,   
                .d_cutoff_freq = -1.0f,
                .range = 0.0f
            },
			
        },
        .expect_status_limit = {
            .yaw_omg = 1.0f,
            .rol_agl = 0.1745329f,
            .pit_agl = 0.1745329f
        },
        .motor_limit = {
            .min_output = 0.1f,
            .max_output = 0.9f
        },

    }

};

/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * @brief 获取机器人配置参数
 * @return 机器人配置参数指针
 */
Config_RobotParam_t* Config_GetRobotParam(void) {
    return &robot_config;
}