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/**
 * @file estimator_interface.cpp
 * Definition of base class for attitude estimators
 *
 * @author Roman Bast <bapstroman@gmail.com>
 * @author Paul Riseborough <p_riseborough@live.com.au>
 * @author Siddharth B Purohit <siddharthbharatpurohit@gmail.com>
 */

#include "estimator_interface.h"

#include <ecl.h>
#include <mathlib/mathlib.h>

// Accumulate imu data and store to buffer at desired rate
void EstimatorInterface::setIMUData(const imuSample &imu_sample)
{
	// TODO: resolve misplaced responsibility
	if (!_initialised) {
		_initialised = init(imu_sample.time_us);
	}

	const float dt = math::constrain((imu_sample.time_us - _time_last_imu) / 1e6f, 1.0e-4f, 0.02f);

	_time_last_imu = imu_sample.time_us;

	if (_time_last_imu > 0) {
		_dt_imu_avg = 0.8f * _dt_imu_avg + 0.2f * dt;
	}

	_newest_high_rate_imu_sample = imu_sample;

	// Do not change order of computeVibrationMetric and checkIfVehicleAtRest
	computeVibrationMetric(imu_sample);
	_control_status.flags.vehicle_at_rest = checkIfVehicleAtRest(dt, imu_sample);

	_imu_updated = _imu_down_sampler.update(imu_sample);

	// accumulate and down-sample imu data and push to the buffer when new downsampled data becomes available
	if (_imu_updated) {

		_imu_buffer.push(_imu_down_sampler.getDownSampledImuAndTriggerReset());

		// get the oldest data from the buffer
		_imu_sample_delayed = _imu_buffer.get_oldest();

		// calculate the minimum interval between observations required to guarantee no loss of data
		// this will occur if data is overwritten before its time stamp falls behind the fusion time horizon
		_min_obs_interval_us = (imu_sample.time_us - _imu_sample_delayed.time_us) / (_obs_buffer_length - 1);

		setDragData(imu_sample);
	}
}

void EstimatorInterface::computeVibrationMetric(const imuSample &imu)
{
	// calculate a metric which indicates the amount of coning vibration
	Vector3f temp = imu.delta_ang % _delta_ang_prev;
	_vibe_metrics(0) = 0.99f * _vibe_metrics(0) + 0.01f * temp.norm();

	// calculate a metric which indicates the amount of high frequency gyro vibration
	temp = imu.delta_ang - _delta_ang_prev;
	_delta_ang_prev = imu.delta_ang;
	_vibe_metrics(1) = 0.99f * _vibe_metrics(1) + 0.01f * temp.norm();

	// calculate a metric which indicates the amount of high frequency accelerometer vibration
	temp = imu.delta_vel - _delta_vel_prev;
	_delta_vel_prev = imu.delta_vel;
	_vibe_metrics(2) = 0.99f * _vibe_metrics(2) + 0.01f * temp.norm();
}

bool EstimatorInterface::checkIfVehicleAtRest(float dt, const imuSample &imu)
{
	// detect if the vehicle is not moving when on ground
	if (!_control_status.flags.in_air) {
		if ((_vibe_metrics(1) * 4.0E4f > _params.is_moving_scaler)
		    || (_vibe_metrics(2) * 2.1E2f > _params.is_moving_scaler)
		    || ((imu.delta_ang.norm() / dt) > 0.05f * _params.is_moving_scaler)) {

			_time_last_move_detect_us = imu.time_us;
		}

		return ((imu.time_us - _time_last_move_detect_us) > (uint64_t)1E6);

	} else {
		_time_last_move_detect_us = imu.time_us;
		return false;
	}
}


void EstimatorInterface::setMagData(const magSample &mag_sample)
{
	if (!_initialised || _mag_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_mag_buffer.get_length() < _obs_buffer_length) {
		_mag_buffer_fail = !_mag_buffer.allocate(_obs_buffer_length);

		if (_mag_buffer_fail) {
			printBufferAllocationFailed("mag");
			return;
		}
	}

	// downsample to highest possible sensor rate
	// by taking the average of incoming sample
	_mag_sample_count++;
	_mag_data_sum += mag_sample.mag;
	_mag_timestamp_sum += mag_sample.time_us / 1000; // Dividing by 1000 to avoid overflow

	// limit data rate to prevent data being lost
	if ((mag_sample.time_us - _time_last_mag) > _min_obs_interval_us) {
		_time_last_mag = mag_sample.time_us;

		magSample mag_sample_new;

		// Use the time in the middle of the downsampling interval for the sample
		mag_sample_new.time_us = 1000 * (_mag_timestamp_sum / _mag_sample_count);
		mag_sample_new.time_us -= _params.mag_delay_ms * 1000;
		mag_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		mag_sample_new.mag = _mag_data_sum / _mag_sample_count;

		_mag_buffer.push(mag_sample_new);

		_mag_sample_count = 0;
		_mag_data_sum.setZero();
		_mag_timestamp_sum = 0;
	}
}

void EstimatorInterface::setGpsData(const gps_message &gps)
{
	if (!_initialised || _gps_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_gps_buffer.get_length() < _obs_buffer_length) {
		_gps_buffer_fail = !_gps_buffer.allocate(_obs_buffer_length);

		if (_gps_buffer_fail) {
			printBufferAllocationFailed("GPS");
			return;
		}
	}

	// limit data rate to prevent data being lost
	const bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);

	// TODO: remove checks that are not timing related
	if (((gps.time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps.fix_type > 2) {
		_time_last_gps = gps.time_usec;

		gpsSample gps_sample_new;

		gps_sample_new.time_us = gps.time_usec - _params.gps_delay_ms * 1000;
		gps_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		gps_sample_new.vel = gps.vel_ned;

		_gps_speed_valid = gps.vel_ned_valid;
		gps_sample_new.sacc = gps.sacc;
		gps_sample_new.hacc = gps.eph;
		gps_sample_new.vacc = gps.epv;

		gps_sample_new.hgt = (float)gps.alt * 1e-3f;

		gps_sample_new.yaw = gps.yaw;

		if (ISFINITE(gps.yaw_offset)) {
			_gps_yaw_offset = gps.yaw_offset;

		} else {
			_gps_yaw_offset = 0.0f;
		}

		// Only calculate the relative position if the WGS-84 location of the origin is set
		if (collect_gps(gps)) {
			float lpos_x = 0.0f;
			float lpos_y = 0.0f;
			map_projection_project(&_pos_ref, (gps.lat / 1.0e7), (gps.lon / 1.0e7), &lpos_x, &lpos_y);
			gps_sample_new.pos(0) = lpos_x;
			gps_sample_new.pos(1) = lpos_y;

		} else {
			gps_sample_new.pos(0) = 0.0f;
			gps_sample_new.pos(1) = 0.0f;
		}

		_gps_buffer.push(gps_sample_new);
	}
}

void EstimatorInterface::setBaroData(const baroSample &baro_sample)
{
	if (!_initialised || _baro_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_baro_buffer.get_length() < _obs_buffer_length) {
		_baro_buffer_fail = !_baro_buffer.allocate(_obs_buffer_length);

		if (_baro_buffer_fail) {
			printBufferAllocationFailed("baro");
			return;
		}
	}

	// downsample to highest possible sensor rate
	// by baro data by taking the average of incoming sample
	_baro_sample_count++;
	_baro_alt_sum += baro_sample.hgt;
	_baro_timestamp_sum += baro_sample.time_us / 1000; // Dividing by 1000 to avoid overflow

	// limit data rate to prevent data being lost
	if ((baro_sample.time_us - _time_last_baro) > _min_obs_interval_us) {
		_time_last_baro = baro_sample.time_us;

		const float baro_alt_avg = _baro_alt_sum / (float)_baro_sample_count;

		baroSample baro_sample_new;
		baro_sample_new.hgt = compensateBaroForDynamicPressure(baro_alt_avg);

		// Use the time in the middle of the downsampling interval for the sample
		baro_sample_new.time_us = 1000 * (_baro_timestamp_sum / _baro_sample_count);
		baro_sample_new.time_us -= _params.baro_delay_ms * 1000;
		baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_baro_buffer.push(baro_sample_new);

		_baro_sample_count = 0;
		_baro_alt_sum = 0.0f;
		_baro_timestamp_sum = 0;
	}
}

void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
{
	if (!_initialised || _airspeed_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_airspeed_buffer.get_length() < _obs_buffer_length) {
		_airspeed_buffer_fail = !_airspeed_buffer.allocate(_obs_buffer_length);

		if (_airspeed_buffer_fail) {
			printBufferAllocationFailed("airspeed");
			return;
		}
	}

	// limit data rate to prevent data being lost
	if ((airspeed_sample.time_us - _time_last_airspeed) > _min_obs_interval_us) {
		_time_last_airspeed = airspeed_sample.time_us;

		airspeedSample airspeed_sample_new = airspeed_sample;

		airspeed_sample_new.time_us -= _params.airspeed_delay_ms * 1000;
		airspeed_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_airspeed_buffer.push(airspeed_sample_new);
	}
}

void EstimatorInterface::setRangeData(const rangeSample &range_sample)
{
	if (!_initialised || _range_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_range_buffer.get_length() < _obs_buffer_length) {
		_range_buffer_fail = !_range_buffer.allocate(_obs_buffer_length);

		if (_range_buffer_fail) {
			printBufferAllocationFailed("range");
			return;
		}
	}

	// limit data rate to prevent data being lost
	if ((range_sample.time_us - _time_last_range) > _min_obs_interval_us) {
		_time_last_range = range_sample.time_us;

		rangeSample range_sample_new = range_sample;
		range_sample_new.time_us -= _params.range_delay_ms * 1000;
		range_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_range_buffer.push(range_sample_new);
	}
}

void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
{
	if (!_initialised || _flow_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_flow_buffer.get_length() < _imu_buffer_length) {
		_flow_buffer_fail = !_flow_buffer.allocate(_imu_buffer_length);

		if (_flow_buffer_fail) {
			printBufferAllocationFailed("flow");
			return;
		}
	}

	// limit data rate to prevent data being lost
	if ((flow.time_us - _time_last_optflow) > _min_obs_interval_us) {
		_time_last_optflow = flow.time_us;

		flowSample optflow_sample_new = flow;

		optflow_sample_new.time_us -= _params.flow_delay_ms * 1000;
		optflow_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_flow_buffer.push(optflow_sample_new);
	}
}

// set attitude and position data derived from an external vision system
void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
{
	if (!_initialised || _ev_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_ext_vision_buffer.get_length() < _obs_buffer_length) {
		_ev_buffer_fail = !_ext_vision_buffer.allocate(_obs_buffer_length);

		if (_ev_buffer_fail) {
			printBufferAllocationFailed("vision");
			return;
		}
	}

	// limit data rate to prevent data being lost
	if ((evdata.time_us - _time_last_ext_vision) > _min_obs_interval_us) {
		_time_last_ext_vision = evdata.time_us;

		extVisionSample ev_sample_new = evdata;
		// calculate the system time-stamp for the mid point of the integration period
		ev_sample_new.time_us -= _params.ev_delay_ms * 1000;
		ev_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_ext_vision_buffer.push(ev_sample_new);
	}
}

void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
{
	if (!_initialised || _auxvel_buffer_fail) {
		return;
	}

	// Allocate the required buffer size if not previously done
	// Do not retry if allocation has failed previously
	if (_auxvel_buffer.get_length() < _obs_buffer_length) {
		_auxvel_buffer_fail = !_auxvel_buffer.allocate(_obs_buffer_length);

		if (_auxvel_buffer_fail) {
			printBufferAllocationFailed("aux vel");
			return;
		}
	}

	// limit data rate to prevent data being lost
	if ((auxvel_sample.time_us - _time_last_auxvel) > _min_obs_interval_us) {
		_time_last_auxvel = auxvel_sample.time_us;

		auxVelSample auxvel_sample_new = auxvel_sample;

		auxvel_sample_new.time_us -= _params.auxvel_delay_ms * 1000;
		auxvel_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;

		_auxvel_buffer.push(auxvel_sample_new);
	}
}

void EstimatorInterface::setDragData(const imuSample &imu)
{
	// down-sample the drag specific force data by accumulating and calculating the mean when
	// sufficient samples have been collected
	if ((_params.fusion_mode & MASK_USE_DRAG) && !_drag_buffer_fail) {

		// Allocate the required buffer size if not previously done
		// Do not retry if allocation has failed previously
		if (_drag_buffer.get_length() < _obs_buffer_length) {
			_drag_buffer_fail = !_drag_buffer.allocate(_obs_buffer_length);

			if (_drag_buffer_fail) {
				printBufferAllocationFailed("drag");
				return;
			}
		}

		_drag_sample_count ++;
		// note acceleration is accumulated as a delta velocity
		_drag_down_sampled.accelXY(0) += imu.delta_vel(0);
		_drag_down_sampled.accelXY(1) += imu.delta_vel(1);
		_drag_down_sampled.time_us += imu.time_us;
		_drag_sample_time_dt += imu.delta_vel_dt;

		// calculate the downsample ratio for drag specific force data
		uint8_t min_sample_ratio = (uint8_t) ceilf((float)_imu_buffer_length / _obs_buffer_length);

		if (min_sample_ratio < 5) {
			min_sample_ratio = 5;
		}

		// calculate and store means from accumulated values
		if (_drag_sample_count >= min_sample_ratio) {
			// note conversion from accumulated delta velocity to acceleration
			_drag_down_sampled.accelXY(0) /= _drag_sample_time_dt;
			_drag_down_sampled.accelXY(1) /= _drag_sample_time_dt;
			_drag_down_sampled.time_us /= _drag_sample_count;

			// write to buffer
			_drag_buffer.push(_drag_down_sampled);

			// reset accumulators
			_drag_sample_count = 0;
			_drag_down_sampled.accelXY.zero();
			_drag_down_sampled.time_us = 0;
			_drag_sample_time_dt = 0.0f;
		}
	}
}

bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
	// find the maximum time delay the buffers are required to handle
	float max_time_delay_ms = math::max(_params.baro_delay_ms,
					math::max(_params.auxvel_delay_ms,
						_params.airspeed_delay_ms));

	// mag mode
	if (_params.mag_fusion_type != MAG_FUSE_TYPE_NONE) {
		max_time_delay_ms = math::max(_params.mag_delay_ms, max_time_delay_ms);
	}

	// range aid or range height
	if (_params.range_aid || (_params.vdist_sensor_type == VDIST_SENSOR_RANGE)) {
		max_time_delay_ms = math::max(_params.range_delay_ms, max_time_delay_ms);
	}

	if (_params.fusion_mode & MASK_USE_GPS) {
		max_time_delay_ms = math::max(_params.gps_delay_ms, max_time_delay_ms);
	}

	if (_params.fusion_mode & MASK_USE_OF) {
		max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
	}

	if (_params.fusion_mode & (MASK_USE_EVPOS | MASK_USE_EVYAW | MASK_USE_EVVEL)) {
		max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
	}

	// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
	_imu_buffer_length = ceilf(max_time_delay_ms / FILTER_UPDATE_PERIOD_MS) + 1;

	// set the observation buffer length to handle the minimum time of arrival between observations in combination
	// with the worst case delay from current time to ekf fusion time
	// allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter
	const float ekf_delay_ms = max_time_delay_ms * 1.5f;
	_obs_buffer_length = ceilf(ekf_delay_ms / _params.sensor_interval_min_ms);

	// limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate)
	_obs_buffer_length = math::min(_obs_buffer_length, _imu_buffer_length);

	if (!_imu_buffer.allocate(_imu_buffer_length) || !_output_buffer.allocate(_imu_buffer_length) || !_output_vert_buffer.allocate(_imu_buffer_length)) {
		printBufferAllocationFailed("IMU and output");
		return false;
	}

	_imu_sample_delayed.time_us = timestamp;
	_imu_sample_delayed.delta_vel_clipping[0] = false;
	_imu_sample_delayed.delta_vel_clipping[1] = false;
	_imu_sample_delayed.delta_vel_clipping[2] = false;

	_fault_status.value = 0;

	return true;
}

bool EstimatorInterface::isOnlyActiveSourceOfHorizontalAiding(const bool aiding_flag) const
{
	return aiding_flag && !isOtherSourceOfHorizontalAidingThan(aiding_flag);
}

bool EstimatorInterface::isOtherSourceOfHorizontalAidingThan(const bool aiding_flag) const
{
	const int nb_sources = getNumberOfActiveHorizontalAidingSources();
	return aiding_flag ? nb_sources > 1 : nb_sources > 0;
}

int EstimatorInterface::getNumberOfActiveHorizontalAidingSources() const
{
	return int(_control_status.flags.gps)
	       + int(_control_status.flags.opt_flow)
	       + int(_control_status.flags.ev_pos)
	       + int(_control_status.flags.ev_vel)
	       // Combined airspeed and sideslip fusion allows sustained wind relative dead reckoning
	       // and so is treated as a single aiding source.
	       + int(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta);
}

bool EstimatorInterface::isHorizontalAidingActive() const
{
	return getNumberOfActiveHorizontalAidingSources() > 0;
}

void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
{
	if (buffer_name) {
		ECL_ERR("%s buffer allocation failed", buffer_name);
	}
}

void EstimatorInterface::print_status()
{
	ECL_INFO("imu buffer: %d (%d Bytes)", _imu_buffer.get_length(), _imu_buffer.get_total_size());
	ECL_INFO("gps buffer: %d (%d Bytes)", _gps_buffer.get_length(), _gps_buffer.get_total_size());
	ECL_INFO("mag buffer: %d (%d Bytes)", _mag_buffer.get_length(), _mag_buffer.get_total_size());
	ECL_INFO("baro buffer: %d (%d Bytes)", _baro_buffer.get_length(), _baro_buffer.get_total_size());
	ECL_INFO("range buffer: %d (%d Bytes)", _range_buffer.get_length(), _range_buffer.get_total_size());
	ECL_INFO("airspeed buffer: %d (%d Bytes)", _airspeed_buffer.get_length(), _airspeed_buffer.get_total_size());
	ECL_INFO("flow buffer: %d (%d Bytes)", _flow_buffer.get_length(), _flow_buffer.get_total_size());
	ECL_INFO("vision buffer: %d (%d Bytes)", _ext_vision_buffer.get_length(), _ext_vision_buffer.get_total_size());
	ECL_INFO("output buffer: %d (%d Bytes)", _output_buffer.get_length(), _output_buffer.get_total_size());
	ECL_INFO("output vert buffer: %d (%d Bytes)", _output_vert_buffer.get_length(), _output_vert_buffer.get_total_size());
	ECL_INFO("drag buffer: %d (%d Bytes)", _drag_buffer.get_length(), _drag_buffer.get_total_size());
}