#include "flight_app.h"

void Actuator_Init(ActuatorState *actuator) {
    actuator->throttle = 0.0f;
    actuator->elevator = 0.0f;
    actuator->armed = 0U;
}

void Actuator_Arm(ActuatorState *actuator) {
    actuator->armed = 1U;
}

void Actuator_WriteThrottle(ActuatorState *actuator, float throttle) {
    if (actuator->armed) {
        actuator->throttle = Filter_Limit(throttle, 0.0f, 1.0f);
    }
}

void Actuator_WriteElevator(ActuatorState *actuator, float elevator) {
    if (actuator->armed) {
        actuator->elevator = Filter_Limit(elevator, -20.0f, 20.0f);
    }
}

void Actuator_UpdateOutputs(ActuatorState *actuator) {
    Actuator_Arm(actuator);
    Actuator_WriteThrottle(actuator, actuator->throttle);
    Actuator_WriteElevator(actuator, actuator->elevator);
}

void Actuator_Disarm(ActuatorState *actuator) {
    actuator->armed = 0U;
    actuator->throttle = 0.0f;
    actuator->elevator = 0.0f;
}