/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <AP_HAL/AP_HAL.h>
#include <AP_InertialSensor/AP_InertialSensor.h>

#include "RPM_HarmonicNotch.h"

extern const AP_HAL::HAL& hal;

/* 
   open the sensor in constructor
*/
AP_RPM_HarmonicNotch::AP_RPM_HarmonicNotch(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
    AP_RPM_Backend(_ap_rpm, _instance, _state)
{
    instance = _instance;
}

void AP_RPM_HarmonicNotch::update(void)
{
    AP_InertialSensor& ins = AP::ins();
    for (uint8_t i=0; i<HAL_INS_NUM_HARMONIC_NOTCH_FILTERS; i++) {
        if (ins.gyro_harmonic_notch_enabled(i) &&
            ins.get_gyro_harmonic_notch_tracking_mode(i) != HarmonicNotchDynamicMode::Fixed) {
            state.rate_rpm = ins.get_gyro_dynamic_notch_center_freq_hz(i) * 60.0f;
            state.rate_rpm *= ap_rpm._params[state.instance].scaling;
            state.signal_quality = 0.5f;
            state.last_reading_ms = AP_HAL::millis();
        }
    }
}