#include "Copter.h"

// return barometric altitude in centimeters
void Copter::read_barometer(void)
{
    barometer.update();

    baro_alt = barometer.get_altitude() * 100.0f;

    motors->set_air_density_ratio(barometer.get_air_density_ratio());
}

void Copter::init_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
   rangefinder.set_log_rfnd_bit(MASK_LOG_CTUN);
   rangefinder.init(ROTATION_PITCH_270);
   rangefinder_state.alt_cm_filt.set_cutoff_frequency(RANGEFINDER_WPNAV_FILT_HZ);
   rangefinder_state.enabled = rangefinder.has_orientation(ROTATION_PITCH_270);
#endif
}

// return rangefinder altitude in centimeters
void Copter::read_rangefinder(void)
{
#if RANGEFINDER_ENABLED == ENABLED
    rangefinder.update();

    rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));

    int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);

 #if RANGEFINDER_TILT_CORRECTION == ENABLED
    // correct alt for angle of the rangefinder
    temp_alt = (float)temp_alt * MAX(0.707f, ahrs.get_rotation_body_to_ned().c.z);
 #endif

    rangefinder_state.alt_cm = temp_alt;

    // filter rangefinder for use by AC_WPNav
    uint32_t now = AP_HAL::millis();

    if (rangefinder_state.alt_healthy) {
        if (now - rangefinder_state.last_healthy_ms > RANGEFINDER_TIMEOUT_MS) {
            // reset filter if we haven't used it within the last second
            rangefinder_state.alt_cm_filt.reset(rangefinder_state.alt_cm);
        } else {
            rangefinder_state.alt_cm_filt.apply(rangefinder_state.alt_cm, 0.05f);
        }
        rangefinder_state.last_healthy_ms = now;
    }

    // send rangefinder altitude and health to waypoint navigation library
    wp_nav->set_rangefinder_alt(rangefinder_state.enabled, rangefinder_state.alt_healthy, rangefinder_state.alt_cm_filt.get());

#else
    rangefinder_state.enabled = false;
    rangefinder_state.alt_healthy = false;
    rangefinder_state.alt_cm = 0;
#endif
}

// return true if rangefinder_alt can be used
bool Copter::rangefinder_alt_ok()
{
    return (rangefinder_state.enabled && rangefinder_state.alt_healthy);
}

/*
  update RPM sensors
 */
void Copter::rpm_update(void)
{
#if RPM_ENABLED == ENABLED
    rpm_sensor.update();
    if (rpm_sensor.enabled(0) || rpm_sensor.enabled(1)) {
        if (should_log(MASK_LOG_RCIN)) {
            logger.Write_RPM(rpm_sensor);
        }
    }
#endif
}

/*
  initialise compass's location used for declination
 */
void Copter::init_compass_location()
{
    // update initial location used for declination
    if (!ap.compass_init_location) {
        Location loc;
        if (ahrs.get_position(loc)) {
            compass.set_initial_location(loc.lat, loc.lng);
            ap.compass_init_location = true;
        }
    }
}

// initialise optical flow sensor
void Copter::init_optflow()
{
#if OPTFLOW == ENABLED
    // initialise optical flow sensor
    optflow.init(MASK_LOG_OPTFLOW);
#endif      // OPTFLOW == ENABLED
}

void Copter::compass_cal_update()
{
    static uint32_t compass_cal_stick_gesture_begin = 0;

    if (!hal.util->get_soft_armed()) {
        compass.compass_cal_update();
    }

    if (compass.is_calibrating()) {
        if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
            compass.cancel_calibration_all();
        }
    } else {
        bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_throttle->get_control_in() > 900;
        uint32_t tnow = millis();

        if (!stick_gesture_detected) {
            compass_cal_stick_gesture_begin = tnow;
        } else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
#ifdef CAL_ALWAYS_REBOOT
            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
#else
            compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
#endif
        }
    }
}

void Copter::accel_cal_update()
{
    if (hal.util->get_soft_armed()) {
        return;
    }
    ins.acal_update();
    // check if new trim values, and set them
    float trim_roll, trim_pitch;
    if(ins.get_new_trim(trim_roll, trim_pitch)) {
        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
    }

#ifdef CAL_ALWAYS_REBOOT
    if (ins.accel_cal_requires_reboot()) {
        hal.scheduler->delay(1000);
        hal.scheduler->reboot(false);
    }
#endif
}

// initialise proximity sensor
void Copter::init_proximity(void)
{
#if PROXIMITY_ENABLED == ENABLED
    g2.proximity.init();
    g2.proximity.set_rangefinder(&rangefinder);
#endif
}

// init visual odometry sensor
void Copter::init_visual_odom()
{
#if VISUAL_ODOMETRY_ENABLED == ENABLED
    g2.visual_odom.init();
#endif
}

// winch and wheel encoder initialisation
void Copter::winch_init()
{
#if WINCH_ENABLED == ENABLED
    g2.wheel_encoder.init();
    g2.winch.init(&g2.wheel_encoder);
#endif
}

// winch and wheel encoder update
void Copter::winch_update()
{
#if WINCH_ENABLED == ENABLED
    g2.wheel_encoder.update();
    g2.winch.update();
#endif
}