#include "Sub.h"

/**
 *
 * ekf_check.pde - detects failures of the ekf or inertial nav system
 *                 triggers an alert to the pilot and helps take countermeasures
 *
 */

#ifndef EKF_CHECK_ITERATIONS_MAX
# define EKF_CHECK_ITERATIONS_MAX          10      // 1 second (ie. 10 iterations at 10hz) of bad variances signals a failure
#endif

#ifndef EKF_CHECK_WARNING_TIME
# define EKF_CHECK_WARNING_TIME            (30*1000)   // warning text messages are sent to ground no more than every 30 seconds
#endif

////////////////////////////////////////////////////////////////////////////////
// EKF_check strucutre
////////////////////////////////////////////////////////////////////////////////
static struct {
    uint8_t fail_count;         // number of iterations ekf or dcm have been out of tolerances
    uint8_t bad_variance : 1;   // true if ekf should be considered untrusted (fail_count has exceeded EKF_CHECK_ITERATIONS_MAX)
    uint32_t last_warn_time;    // system time of last warning in milliseconds.  Used to throttle text warnings sent to GCS
} ekf_check_state;

// ekf_check - detects if ekf variance are out of tolerance and triggers failsafe
// should be called at 10hz
void Sub::ekf_check()
{
    // exit immediately if ekf has no origin yet - this assumes the origin can never become unset
    Location temp_loc;
    if (!ahrs.get_origin(temp_loc)) {
        return;
    }

    // return immediately if motors are not armed, ekf check is disabled, not using ekf or usb is connected
    if (!motors.armed() || ap.usb_connected || (g.fs_ekf_thresh <= 0.0f)) {
        ekf_check_state.fail_count = 0;
        ekf_check_state.bad_variance = false;
        AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance;
        failsafe_ekf_off_event();   // clear failsafe
        return;
    }

    // compare compass and velocity variance vs threshold
    if (ekf_over_threshold()) {
        // if compass is not yet flagged as bad
        if (!ekf_check_state.bad_variance) {
            // increase counter
            ekf_check_state.fail_count++;
            // if counter above max then trigger failsafe
            if (ekf_check_state.fail_count >= EKF_CHECK_ITERATIONS_MAX) {
                // limit count from climbing too high
                ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                ekf_check_state.bad_variance = true;
                // log an error in the dataflash
                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_BAD_VARIANCE);
                // send message to gcs
                if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
                    gcs_send_text(MAV_SEVERITY_CRITICAL,"EKF variance");
                    ekf_check_state.last_warn_time = AP_HAL::millis();
                }
                failsafe_ekf_event();
            }
        }
    } else {
        // reduce counter
        if (ekf_check_state.fail_count > 0) {
            ekf_check_state.fail_count--;

            // if compass is flagged as bad and the counter reaches zero then clear flag
            if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                ekf_check_state.bad_variance = false;
                // log recovery in the dataflash
                Log_Write_Error(ERROR_SUBSYSTEM_EKFCHECK, ERROR_CODE_EKFCHECK_VARIANCE_CLEARED);
                // clear failsafe
                failsafe_ekf_off_event();
            }
        }
    }

    // set AP_Notify flags
    AP_Notify::flags.ekf_bad = ekf_check_state.bad_variance;

    // To-Do: add ekf variances to extended status
}

// ekf_over_threshold - returns true if the ekf's variance are over the tolerance
bool Sub::ekf_over_threshold()
{
    // return false immediately if disabled
    if (g.fs_ekf_thresh <= 0.0f) {
        return false;
    }

    // return true immediately if position is bad
    if (!ekf_position_ok() && !optflow_position_ok()) {
        return true;
    }

    // use EKF to get variance
    float posVar, hgtVar, tasVar;
    Vector3f magVar;
    Vector2f offset;
    float compass_variance;
    float vel_variance;
    ahrs.get_variances(vel_variance, posVar, hgtVar, magVar, tasVar, offset);
    compass_variance = magVar.length();

    // return true if compass and velocity variance over the threshold
    return (compass_variance >= g.fs_ekf_thresh && vel_variance >= g.fs_ekf_thresh);
}


// failsafe_ekf_event - perform ekf failsafe
void Sub::failsafe_ekf_event()
{
    //    // return immediately if ekf failsafe already triggered
    //    if (failsafe.ekf) {
    //        return;
    //    }
    //
    //    // do nothing if motors disarmed
    //    if (!motors.armed()) {
    //        return;
    //    }
    //
    //    // do nothing if not in GPS flight mode and ekf-action is not land-even-stabilize
    //    if (!mode_requires_GPS(control_mode) && (g.fs_ekf_action != FS_EKF_ACTION_LAND_EVEN_STABILIZE)) {
    //        return;
    //    }
    //
    //    // EKF failsafe event has occurred
    //    failsafe.ekf = true;
    //    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_OCCURRED);
    //
    //    // take action based on fs_ekf_action parameter
    //    switch (g.fs_ekf_action) {
    //        case FS_EKF_ACTION_ALTHOLD:
    //            // AltHold
    //            if (failsafe.manual_control || !set_mode(ALT_HOLD, MODE_REASON_EKF_FAILSAFE)) {
    //                set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
    //            }
    //            break;
    //        default:
    //            set_mode_land_with_pause(MODE_REASON_EKF_FAILSAFE);
    //            break;
    //    }
    //
    //    // if flight mode is already LAND ensure it's not the GPS controlled LAND
    //    if (control_mode == LAND) {
    //        land_do_not_use_GPS();
    //    }
}

// failsafe_ekf_off_event - actions to take when EKF failsafe is cleared
void Sub::failsafe_ekf_off_event(void)
{
    // return immediately if not in ekf failsafe
    if (!failsafe.ekf) {
        return;
    }

    // clear flag and log recovery
    failsafe.ekf = false;
    Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED);
}