/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

// Code to detect a crash main ArduCopter code
#ifndef CRASH_CHECK_ITERATIONS_MAX
 # define CRASH_CHECK_ITERATIONS_MAX        20      // 2 second (ie. 10 iterations at 10hz) inverted indicates a crash
#endif
#ifndef CRASH_CHECK_ANGLE_DEVIATION_CD
 # define CRASH_CHECK_ANGLE_DEVIATION_CD    2000    // 20 degrees beyond angle max is signal we are inverted
#endif
#ifndef CRASH_CHECK_ALT_CHANGE_LIMIT_CM
 # define CRASH_CHECK_ALT_CHANGE_LIMIT_CM   50      // baro altitude must not change by more than 50cm
#endif

// crash_check - disarms motors if a crash has been detected
// crashes are detected by the vehicle being more than 20 degrees beyond it's angle limits continuously for more than 1 second
// should be called at 10hz
void crash_check()
{
    static uint8_t inverted_count;  // number of iterations we have been inverted
    static int32_t baro_alt_prev;

#if PARACHUTE == ENABLED
    // check parachute
    parachute_check();
#endif

    // return immediately if motors are not armed or pilot's throttle is above zero
    if (!motors.armed() || (!ap.throttle_zero && !failsafe.radio)) {
        inverted_count = 0;
        return;
    }

    // return immediately if we are not in an angle stabilize flight mode or we are flipping
    if (control_mode == ACRO || control_mode == FLIP) {
        inverted_count = 0;
        return;
    }

    // check angles
    int32_t lean_max = aparm.angle_max + CRASH_CHECK_ANGLE_DEVIATION_CD;
    if (labs(ahrs.roll_sensor) > lean_max || labs(ahrs.pitch_sensor) > lean_max) {
        inverted_count++;

        // if we have just become inverted record the baro altitude
        if (inverted_count == 1) {
            baro_alt_prev = baro_alt;

        // exit if baro altitude change indicates we are moving (probably falling)
        }else if (labs(baro_alt - baro_alt_prev) > CRASH_CHECK_ALT_CHANGE_LIMIT_CM) {
            inverted_count = 0;
            return;

        // check if inverted for 2 seconds
        }else if (inverted_count >= CRASH_CHECK_ITERATIONS_MAX) {
            // log an error in the dataflash
            Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_CRASH);
            // send message to gcs
            gcs_send_text_P(SEVERITY_HIGH,PSTR("Crash: Disarming"));
            // disarm motors
            init_disarm_motors();
        }
    }else{
        // we are not inverted so reset counter
        inverted_count = 0;
    }
}

#if PARACHUTE == ENABLED

// Code to detect a crash main ArduCopter code
#ifndef PARACHUTE_CHECK_ITERATIONS_MAX
 # define PARACHUTE_CHECK_ITERATIONS_MAX        10      // 1 second (ie. 10 iterations at 10hz) of loss of control triggers the parachute
#endif
#ifndef PARACHUTE_CHECK_ANGLE_DEVIATION_CD
 # define PARACHUTE_CHECK_ANGLE_DEVIATION_CD    3000    // 30 degrees off from target indicates a loss of control
#endif

// parachute_check - disarms motors and triggers the parachute if serious loss of control has been detected
// vehicle is considered to have a "serious loss of control" by the vehicle being more than 30 degrees off from the target roll and pitch angles continuously for 1 second
// should be called at 10hz
void parachute_check()
{
    static uint8_t control_loss_count;	// number of iterations we have been out of control
    static int32_t baro_alt_start;

    // exit immediately if parachute is not enabled
    if (!parachute.enabled()) {
        return;
    }

    // call update to give parachute a chance to move servo or relay back to off position
    parachute.update();

    // return immediately if motors are not armed or pilot's throttle is above zero
    if (!motors.armed()) {
        control_loss_count = 0;
        return;
    }

    // return immediately if we are not in an angle stabilize flight mode or we are flipping
    if (control_mode == ACRO || control_mode == FLIP) {
        control_loss_count = 0;
        return;
    }

    // ensure we are flying
    if (ap.land_complete) {
        control_loss_count = 0;
        return;
    }

    // ensure the first control_loss event is from above the min altitude
    if (control_loss_count == 0 && parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100)) {
        return;
    }

    // get desired lean angles
    const Vector3f& target_angle = attitude_control.angle_ef_targets();

    // check roll and pitch angles
    if (labs(ahrs.roll_sensor - target_angle.x) > CRASH_CHECK_ANGLE_DEVIATION_CD ||
        labs(ahrs.pitch_sensor - target_angle.y) > CRASH_CHECK_ANGLE_DEVIATION_CD) {
        control_loss_count++;

        // don't let control_loss_count get too high
        if (control_loss_count > PARACHUTE_CHECK_ITERATIONS_MAX) {
            control_loss_count = PARACHUTE_CHECK_ITERATIONS_MAX;
        }

        // record baro alt if we have just started losing control
        if (control_loss_count == 1) {
            baro_alt_start = baro_alt;

        // exit if baro altitude change indicates we are not falling
        }else if (baro_alt >= baro_alt_start) {
            control_loss_count = 0;
            return;

        // To-Do: add check that the vehicle is actually falling

        // check if loss of control for at least 1 second
        }else if (control_loss_count >= PARACHUTE_CHECK_ITERATIONS_MAX) {
            // reset control loss counter
            control_loss_count = 0;
            // log an error in the dataflash
            Log_Write_Error(ERROR_SUBSYSTEM_CRASH_CHECK, ERROR_CODE_CRASH_CHECK_LOSS_OF_CONTROL);
            // release parachute
            parachute_release();
        }
    }else{
        // we are not inverted so reset counter
        control_loss_count = 0;
    }
}

// parachute_release - trigger the release of the parachute, disarm the motors and notify the user
static void parachute_release()
{
    // send message to gcs and dataflash
    gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Released!"));
    Log_Write_Event(DATA_PARACHUTE_RELEASED);

    // disarm motors
    init_disarm_motors();

    // release parachute
    parachute.release();
}

// parachute_manual_release - trigger the release of the parachute, after performing some checks for pilot error
//   checks if the vehicle is landed 
static void parachute_manual_release()
{
    // exit immediately if parachute is not enabled
    if (!parachute.enabled()) {
        return;
    }

    // do not release if vehicle is landed
    // do not release if we are landed or below the minimum altitude above home
    if (ap.land_complete) {
        // warn user of reason for failure
        gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Landed"));
        // log an error in the dataflash
        Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_LANDED);
        return;
    }

    // do not release if we are landed or below the minimum altitude above home
    if ((parachute.alt_min() != 0 && (current_loc.alt < (int32_t)parachute.alt_min() * 100))) {
        // warn user of reason for failure
        gcs_send_text_P(SEVERITY_HIGH,PSTR("Parachute: Too Low"));
        // log an error in the dataflash
        Log_Write_Error(ERROR_SUBSYSTEM_PARACHUTE, ERROR_CODE_PARACHUTE_TOO_LOW);
        return;
    }

    // if we get this far release parachute
    parachute_release();
}

#endif // PARACHUTE == ENABLED
