#include <AP_HAL/AP_HAL.h>

#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150

#include "AP_NavEKF2.h"
#include "AP_NavEKF2_core.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Vehicle/AP_Vehicle.h>

#include <stdio.h>

extern const AP_HAL::HAL& hal;


// Check basic filter health metrics and return a consolidated health status
bool NavEKF2_core::healthy(void) const
{
    uint16_t faultInt;
    getFilterFaults(faultInt);
    if (faultInt > 0) {
        return false;
    }
    if (velTestRatio > 1 && posTestRatio > 1 && hgtTestRatio > 1) {
        // all three metrics being above 1 means the filter is
        // extremely unhealthy.
        return false;
    }
    // Give the filter a second to settle before use
    if ((imuSampleTime_ms - ekfStartTime_ms) < 1000 ) {
        return false;
    }
    // position and height innovations must be within limits when on-ground and in a static mode of operation
    float horizErrSq = sq(innovVelPos[3]) + sq(innovVelPos[4]);
    if (onGround && (PV_AidingMode == AID_NONE) && ((horizErrSq > 1.0f) || (fabsf(hgtInnovFiltState) > 1.0f))) {
        return false;
    }

    // all OK
    return true;
}

// Return a consolidated error score where higher numbers represent larger errors
// Intended to be used by the front-end to determine which is the primary EKF
float NavEKF2_core::errorScore() const
{
    float score = 0.0f;
    if (tiltAlignComplete && yawAlignComplete) {
        // Check GPS fusion performance
        score = MAX(score, 0.5f * (velTestRatio + posTestRatio));
        // Check altimeter fusion performance
        score = MAX(score, hgtTestRatio);
        // Check attitude corrections
        const float tiltErrThreshold = 0.05f;
        score = MAX(score, tiltErrFilt / tiltErrThreshold);
    }
    return score;
}

// return data for debugging optical flow fusion
void NavEKF2_core::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const
{
    varFlow = MAX(flowTestRatio[0],flowTestRatio[1]);
    gndOffset = terrainState;
    flowInnovX = innovOptFlow[0];
    flowInnovY = innovOptFlow[1];
    auxInnov = auxFlowObsInnov;
    HAGL = terrainState - stateStruct.position.z;
    rngInnov = innovRng;
    range = rangeDataDelayed.rng;
    gndOffsetErr = sqrtf(Popt); // note Popt is constrained to be non-negative in EstimateTerrainOffset()
}

// return data for debugging range beacon fusion one beacon at a time, incrementing the beacon index after each call
bool NavEKF2_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow)
{
    // if the states have not been initialised or we have not received any beacon updates then return zeros
    if (!statesInitialised || N_beacons == 0) {
        return false;
    }

    // Ensure that beacons are not skipped due to calling this function at a rate lower than the updates
    if (rngBcnFuseDataReportIndex >= N_beacons) {
        rngBcnFuseDataReportIndex = 0;
    }

    // Output the fusion status data for the specified beacon
    ID = rngBcnFuseDataReportIndex;                                             // beacon identifier
    rng = rngBcnFusionReport[rngBcnFuseDataReportIndex].rng;                    // measured range to beacon (m)
    innov = rngBcnFusionReport[rngBcnFuseDataReportIndex].innov;                // range innovation (m)
    innovVar = rngBcnFusionReport[rngBcnFuseDataReportIndex].innovVar;          // innovation variance (m^2)
    testRatio = rngBcnFusionReport[rngBcnFuseDataReportIndex].testRatio;        // innovation consistency test ratio
    beaconPosNED = rngBcnFusionReport[rngBcnFuseDataReportIndex].beaconPosNED;  // beacon NED position
    offsetHigh = bcnPosOffsetMax;                                               // beacon system vertical pos offset upper estimate
    offsetLow = bcnPosOffsetMin;                                                // beacon system vertical pos offset lower estimate
    rngBcnFuseDataReportIndex++;
    return true;
}

// provides the height limit to be observed by the control loops
// returns false if no height limiting is required
// this is needed to ensure the vehicle does not fly too high when using optical flow navigation
bool NavEKF2_core::getHeightControlLimit(float &height) const
{
    // only ask for limiting if we are doing optical flow navigation
    if (frontend->_fusionModeGPS == 3) {
        // If are doing optical flow nav, ensure the height above ground is within range finder limits after accounting for vehicle tilt and control errors
        height = MAX(float(frontend->_rng.max_distance_cm()) * 0.007f - 1.0f, 1.0f);
        // If we are are not using the range finder as the height reference, then compensate for the difference between terrain and EKF origin
        if (frontend->_altSource != 1) {
            height -= terrainState;
        }
        return true;
    } else {
        return false;
    }
}


// return the Euler roll, pitch and yaw angle in radians
void NavEKF2_core::getEulerAngles(Vector3f &euler) const
{
    outputDataNew.quat.to_euler(euler.x, euler.y, euler.z);
    euler = euler - _ahrs->get_trim();
}

// return body axis gyro bias estimates in rad/sec
void NavEKF2_core::getGyroBias(Vector3f &gyroBias) const
{
    if (dtEkfAvg < 1e-6f) {
        gyroBias.zero();
        return;
    }
    gyroBias = stateStruct.gyro_bias / dtEkfAvg;
}

// return body axis gyro scale factor error as a percentage
void NavEKF2_core::getGyroScaleErrorPercentage(Vector3f &gyroScale) const
{
    if (!statesInitialised) {
        gyroScale.x = gyroScale.y = gyroScale.z = 0;
        return;
    }
    gyroScale.x = 100.0f/stateStruct.gyro_scale.x - 100.0f;
    gyroScale.y = 100.0f/stateStruct.gyro_scale.y - 100.0f;
    gyroScale.z = 100.0f/stateStruct.gyro_scale.z - 100.0f;
}

// return tilt error convergence metric
void NavEKF2_core::getTiltError(float &ang) const
{
    ang = tiltErrFilt;
}

// return the transformation matrix from XYZ (body) to NED axes
void NavEKF2_core::getRotationBodyToNED(Matrix3f &mat) const
{
    outputDataNew.quat.rotation_matrix(mat);
    mat = mat * _ahrs->get_rotation_vehicle_body_to_autopilot_body();
}

// return the quaternions defining the rotation from NED to XYZ (body) axes
void NavEKF2_core::getQuaternion(Quaternion& ret) const
{
    ret = outputDataNew.quat;
}

// return the amount of yaw angle change due to the last yaw angle reset in radians
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
uint32_t NavEKF2_core::getLastYawResetAngle(float &yawAng) const
{
    yawAng = yawResetAngle;
    return lastYawReset_ms;
}

// return the amount of NE position change due to the last position reset in metres
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t NavEKF2_core::getLastPosNorthEastReset(Vector2f &pos) const
{
    pos = posResetNE;
    return lastPosReset_ms;
}

// return the amount of vertical position change due to the last vertical position reset in metres
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t NavEKF2_core::getLastPosDownReset(float &posD) const
{
    posD = posResetD;
    return lastPosResetD_ms;
}

// return the amount of NE velocity change due to the last velocity reset in metres/sec
// returns the time of the last reset or 0 if no reset has ever occurred
uint32_t NavEKF2_core::getLastVelNorthEastReset(Vector2f &vel) const
{
    vel = velResetNE;
    return lastVelReset_ms;
}

// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
void NavEKF2_core::getWind(Vector3f &wind) const
{
    wind.x = stateStruct.wind_vel.x;
    wind.y = stateStruct.wind_vel.y;
    wind.z = 0.0f; // currently don't estimate this
}


// return the NED velocity of the body frame origin in m/s
//
void NavEKF2_core::getVelNED(Vector3f &vel) const
{
    // correct for the IMU position offset (EKF calculations are at the IMU)
    vel = outputDataNew.velocity + velOffsetNED;
}

// Return the rate of change of vertical position in the down diection (dPosD/dt) of the body frame origin in m/s
float NavEKF2_core::getPosDownDerivative(void) const
{
    // return the value calculated from a complementary filter applied to the EKF height and vertical acceleration
    // correct for the IMU offset (EKF calculations are at the IMU)
    return posDownDerivative + velOffsetNED.z;
}

// This returns the specific forces in the NED frame
void NavEKF2_core::getAccelNED(Vector3f &accelNED) const {
    accelNED = velDotNED;
    accelNED.z -= GRAVITY_MSS;
}

// return the Z-accel bias estimate in m/s^2
void NavEKF2_core::getAccelZBias(float &zbias) const {
    if (dtEkfAvg > 0) {
        zbias = stateStruct.accel_zbias / dtEkfAvg;
    } else {
        zbias = 0;
    }
}

// Write the last estimated NE position of the body frame origin relative to the reference point (m).
// Return true if the estimate is valid
bool NavEKF2_core::getPosNE(Vector2f &posNE) const
{
    // There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
    if (PV_AidingMode != AID_NONE) {
        // This is the normal mode of operation where we can use the EKF position states
        // correct for the IMU offset (EKF calculations are at the IMU)
        posNE.x = outputDataNew.position.x + posOffsetNED.x;
        posNE.y = outputDataNew.position.y + posOffsetNED.y;
        return true;

    } else {
        // In constant position mode the EKF position states are at the origin, so we cannot use them as a position estimate
        if(validOrigin) {
            if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
                // If the origin has been set and we have GPS, then return the GPS position relative to the origin
                const struct Location &gpsloc = _ahrs->get_gps().location();
                Vector2f tempPosNE = location_diff(EKF_origin, gpsloc);
                posNE.x = tempPosNE.x;
                posNE.y = tempPosNE.y;
                return false;
            } else if (rngBcnAlignmentStarted) {
                // If we are attempting alignment using range beacon data, then report the position
                posNE.x = receiverPos.x;
                posNE.y = receiverPos.y;
                return false;
            } else {
                // If no GPS fix is available, all we can do is provide the last known position
                posNE.x = outputDataNew.position.x;
                posNE.y = outputDataNew.position.y;
                return false;
            }
        } else {
            // If the origin has not been set, then we have no means of providing a relative position
            posNE.x = 0.0f;
            posNE.y = 0.0f;
            return false;
        }
    }
    return false;
}

// Write the last calculated D position of the body frame origin relative to the reference point (m).
// Return true if the estimate is valid
bool NavEKF2_core::getPosD(float &posD) const
{
    // The EKF always has a height estimate regardless of mode of operation
    // correct for the IMU offset (EKF calculations are at the IMU)
    posD = outputDataNew.position.z + posOffsetNED.z;

    // Return the current height solution status
    return filterStatus.flags.vert_pos;

}
// return the estimated height of body frame origin above ground level
bool NavEKF2_core::getHAGL(float &HAGL) const
{
    HAGL = terrainState - outputDataNew.position.z - posOffsetNED.z;
    // If we know the terrain offset and altitude, then we have a valid height above ground estimate
    return !hgtTimeout && gndOffsetValid && healthy();
}


// Return the last calculated latitude, longitude and height of the body frame origin in WGS-84
// If a calculated location isn't available, return a raw GPS measurement
// The status will return true if a calculation or raw measurement is available
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
bool NavEKF2_core::getLLH(struct Location &loc) const
{
    if(validOrigin) {
        // Altitude returned is an absolute altitude relative to the WGS-84 spherioid
        loc.alt = EKF_origin.alt - outputDataNew.position.z*100;
        loc.flags.relative_alt = 0;
        loc.flags.terrain_alt = 0;

        // there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
        if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
            loc.lat = EKF_origin.lat;
            loc.lng = EKF_origin.lng;
            // correct for IMU offset (EKF calculations are at the IMU position)
            location_offset(loc, (outputDataNew.position.x + posOffsetNED.x), (outputDataNew.position.y + posOffsetNED.y));
            return true;
        } else {
            // we could be in constant position mode  because the vehicle has taken off without GPS, or has lost GPS
            // in this mode we cannot use the EKF states to estimate position so will return the best available data
            if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
                // we have a GPS position fix to return
                const struct Location &gpsloc = _ahrs->get_gps().location();
                loc.lat = gpsloc.lat;
                loc.lng = gpsloc.lng;
                return true;
            } else {
                // if no GPS fix, provide last known position before entering the mode
                // correct for IMU offset (EKF calculations are at the IMU position)
                location_offset(loc, (lastKnownPositionNE.x + posOffsetNED.x), (lastKnownPositionNE.y + posOffsetNED.y));
                return false;
            }
        }
    } else {
        // If no origin has been defined for the EKF, then we cannot use its position states so return a raw
        // GPS reading if available and return false
        if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_3D)) {
            const struct Location &gpsloc = _ahrs->get_gps().location();
            loc = gpsloc;
            loc.flags.relative_alt = 0;
            loc.flags.terrain_alt = 0;
        }
        return false;
    }
}


// return the horizontal speed limit in m/s set by optical flow sensor limits
// return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
void NavEKF2_core::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
{
    if (PV_AidingMode == AID_RELATIVE) {
        // allow 1.0 rad/sec margin for angular motion
        ekfGndSpdLimit = MAX((frontend->_maxFlowRate - 1.0f), 0.0f) * MAX((terrainState - stateStruct.position[2]), rngOnGnd);
        // use standard gains up to 5.0 metres height and reduce above that
        ekfNavVelGainScaler = 4.0f / MAX((terrainState - stateStruct.position[2]),4.0f);
    } else {
        ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
        ekfNavVelGainScaler = 1.0f;
    }
}


// return the LLH location of the filters NED origin
bool NavEKF2_core::getOriginLLH(struct Location &loc) const
{
    if (validOrigin) {
        loc = EKF_origin;
    }
    return validOrigin;
}

// return earth magnetic field estimates in measurement units / 1000
void NavEKF2_core::getMagNED(Vector3f &magNED) const
{
    magNED = stateStruct.earth_magfield * 1000.0f;
}

// return body magnetic field estimates in measurement units / 1000
void NavEKF2_core::getMagXYZ(Vector3f &magXYZ) const
{
    magXYZ = stateStruct.body_magfield*1000.0f;
}

// return magnetometer offsets
// return true if offsets are valid
bool NavEKF2_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
{
    // compass offsets are valid if we have finalised magnetic field initialisation, magnetic field learning is not prohibited,
    // primary compass is valid and state variances have converged
    const float maxMagVar = 5E-6f;
    bool variancesConverged = (P[19][19] < maxMagVar) && (P[20][20] < maxMagVar) && (P[21][21] < maxMagVar);
    if ((mag_idx == magSelectIndex) &&
            finalInflightMagInit &&
            !inhibitMagStates &&
            _ahrs->get_compass()->healthy(magSelectIndex) &&
            variancesConverged) {
        magOffsets = _ahrs->get_compass()->get_offsets(magSelectIndex) - stateStruct.body_magfield*1000.0f;
        return true;
    } else {
        magOffsets = _ahrs->get_compass()->get_offsets(magSelectIndex);
        return false;
    }
}

// return the index for the active magnetometer
uint8_t NavEKF2_core::getActiveMag() const
{
    return (uint8_t)magSelectIndex;
}

// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
void  NavEKF2_core::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
{
    velInnov.x = innovVelPos[0];
    velInnov.y = innovVelPos[1];
    velInnov.z = innovVelPos[2];
    posInnov.x = innovVelPos[3];
    posInnov.y = innovVelPos[4];
    posInnov.z = innovVelPos[5];
    magInnov.x = 1e3f*innovMag[0]; // Convert back to sensor units
    magInnov.y = 1e3f*innovMag[1]; // Convert back to sensor units
    magInnov.z = 1e3f*innovMag[2]; // Convert back to sensor units
    tasInnov   = innovVtas;
    yawInnov   = innovYaw;
}

// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
// this indicates the amount of margin available when tuning the various error traps
// also return the delta in position due to the last position reset
void  NavEKF2_core::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const
{
    velVar   = sqrtf(velTestRatio);
    posVar   = sqrtf(posTestRatio);
    hgtVar   = sqrtf(hgtTestRatio);
    // If we are using simple compass yaw fusion, populate all three components with the yaw test ratio to provide an equivalent output
    magVar.x = sqrtf(MAX(magTestRatio.x,yawTestRatio));
    magVar.y = sqrtf(MAX(magTestRatio.y,yawTestRatio));
    magVar.z = sqrtf(MAX(magTestRatio.z,yawTestRatio));
    tasVar   = sqrtf(tasTestRatio);
    offset   = posResetNE;
}


/*
return the filter fault status as a bitmasked integer
 0 = quaternions are NaN
 1 = velocities are NaN
 2 = badly conditioned X magnetometer fusion
 3 = badly conditioned Y magnetometer fusion
 5 = badly conditioned Z magnetometer fusion
 6 = badly conditioned airspeed fusion
 7 = badly conditioned synthetic sideslip fusion
 7 = filter is not initialised
*/
void  NavEKF2_core::getFilterFaults(uint16_t &faults) const
{
    faults = (stateStruct.quat.is_nan()<<0 |
              stateStruct.velocity.is_nan()<<1 |
              faultStatus.bad_xmag<<2 |
              faultStatus.bad_ymag<<3 |
              faultStatus.bad_zmag<<4 |
              faultStatus.bad_airspeed<<5 |
              faultStatus.bad_sideslip<<6 |
              !statesInitialised<<7);
}

/*
return filter timeout status as a bitmasked integer
 0 = position measurement timeout
 1 = velocity measurement timeout
 2 = height measurement timeout
 3 = magnetometer measurement timeout
 4 = true airspeed measurement timeout
 5 = unassigned
 6 = unassigned
 7 = unassigned
*/
void  NavEKF2_core::getFilterTimeouts(uint8_t &timeouts) const
{
    timeouts = (posTimeout<<0 |
                velTimeout<<1 |
                hgtTimeout<<2 |
                magTimeout<<3 |
                tasTimeout<<4);
}

// Return the navigation filter status message
void  NavEKF2_core::getFilterStatus(nav_filter_status &status) const
{
    status = filterStatus;
}

/*
return filter gps quality check status
*/
void  NavEKF2_core::getFilterGpsStatus(nav_gps_status &faults) const
{
    // init return value
    faults.value = 0;

    // set individual flags
    faults.flags.bad_sAcc           = gpsCheckStatus.bad_sAcc; // reported speed accuracy is insufficient
    faults.flags.bad_hAcc           = gpsCheckStatus.bad_hAcc; // reported horizontal position accuracy is insufficient
    faults.flags.bad_yaw            = gpsCheckStatus.bad_yaw; // EKF heading accuracy is too large for GPS use
    faults.flags.bad_sats           = gpsCheckStatus.bad_sats; // reported number of satellites is insufficient
    faults.flags.bad_horiz_drift    = gpsCheckStatus.bad_horiz_drift; // GPS horizontal drift is too large to start using GPS (check assumes vehicle is static)
    faults.flags.bad_hdop           = gpsCheckStatus.bad_hdop; // reported HDoP is too large to start using GPS
    faults.flags.bad_vert_vel       = gpsCheckStatus.bad_vert_vel; // GPS vertical speed is too large to start using GPS (check assumes vehicle is static)
    faults.flags.bad_fix            = gpsCheckStatus.bad_fix; // The GPS cannot provide the 3D fix required
    faults.flags.bad_horiz_vel      = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static)
}

// send an EKF_STATUS message to GCS
void NavEKF2_core::send_status_report(mavlink_channel_t chan)
{
    // prepare flags
    uint16_t flags = 0;
    if (filterStatus.flags.attitude) {
        flags |= EKF_ATTITUDE;
    }
    if (filterStatus.flags.horiz_vel) {
        flags |= EKF_VELOCITY_HORIZ;
    }
    if (filterStatus.flags.vert_vel) {
        flags |= EKF_VELOCITY_VERT;
    }
    if (filterStatus.flags.horiz_pos_rel) {
        flags |= EKF_POS_HORIZ_REL;
    }
    if (filterStatus.flags.horiz_pos_abs) {
        flags |= EKF_POS_HORIZ_ABS;
    }
    if (filterStatus.flags.vert_pos) {
        flags |= EKF_POS_VERT_ABS;
    }
    if (filterStatus.flags.terrain_alt) {
        flags |= EKF_POS_VERT_AGL;
    }
    if (filterStatus.flags.const_pos_mode) {
        flags |= EKF_CONST_POS_MODE;
    }
    if (filterStatus.flags.pred_horiz_pos_rel) {
        flags |= EKF_PRED_POS_HORIZ_REL;
    }
    if (filterStatus.flags.pred_horiz_pos_abs) {
        flags |= EKF_PRED_POS_HORIZ_ABS;
    }

    // get variances
    float velVar, posVar, hgtVar, tasVar;
    Vector3f magVar;
    Vector2f offset;
    getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);

    // Only report range finder normalised innovation levels if the EKF needs the data for primary
    // height estimation or optical flow operation. This prevents false alarms at the GCS if a
    // range finder is fitted for other applications
    float temp;
    if ((frontend->_useRngSwHgt > 0) || PV_AidingMode == AID_RELATIVE || flowDataValid) {
        temp = sqrtf(auxRngTestRatio);
    } else {
        temp = 0.0f;
    }

    // send message
    mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, magVar.length(), temp);

}

// report the reason for why the backend is refusing to initialise
const char *NavEKF2_core::prearm_failure_reason(void) const
{
    if (imuSampleTime_ms - lastGpsVelFail_ms > 10000) {
        // we are not failing
        return nullptr;
    }
    return prearm_fail_string;
}


// report the number of frames lapsed since the last state prediction
// this is used by other instances to level load
uint8_t NavEKF2_core::getFramesSincePredict(void) const
{
    return framesSincePredict;
}

// publish output observer angular, velocity and position tracking error
void NavEKF2_core::getOutputTrackingError(Vector3f &error) const
{
    error = outputTrackError;
}

#endif // HAL_CPU_CLASS
