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#include "level_calibration.h"
#include "calibration_messages.h"
#include "calibration_routines.h"
#include "commander_helper.h"

#include <px4_platform_common/defines.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/time.h>

#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/ecl/geo/geo.h>
#include <matrix/math.hpp>
#include <lib/conversion/rotation.h>
#include <lib/parameters/param.h>
#include <systemlib/err.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionBlocking.hpp>

using namespace time_literals;
using namespace matrix;
using math::radians;

int do_level_calibration(orb_advert_t *mavlink_log_pub)
{
	bool success = false;

	calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, "level");

	param_t roll_offset_handle = param_find("SENS_BOARD_X_OFF");
	param_t pitch_offset_handle = param_find("SENS_BOARD_Y_OFF");

	// get old values
	float roll_offset_current = 0.f;
	float pitch_offset_current = 0.f;
	param_get(roll_offset_handle, &roll_offset_current);
	param_get(pitch_offset_handle, &pitch_offset_current);

	int32_t board_rot_current = 0;
	param_get(param_find("SENS_BOARD_ROT"), &board_rot_current);

	const Dcmf board_rotation_offset{Eulerf{radians(roll_offset_current), radians(pitch_offset_current), 0.f}};

	float roll_mean = 0.f;
	float pitch_mean = 0.f;
	unsigned counter = 0;
	bool had_motion = true;
	int num_retries = 0;

	uORB::SubscriptionBlocking<vehicle_attitude_s> att_sub{ORB_ID(vehicle_attitude)};

	while (had_motion && num_retries++ < 50) {
		Vector2f min_angles{100.f, 100.f};
		Vector2f max_angles{-100.f, -100.f};
		roll_mean = 0.0f;
		pitch_mean = 0.0f;
		counter = 0;
		int last_progress_report = -100;
		static constexpr hrt_abstime calibration_duration = 500_ms;
		const hrt_abstime start = hrt_absolute_time();

		while (hrt_elapsed_time(&start) < calibration_duration) {

			vehicle_attitude_s att{};

			if (!att_sub.updateBlocking(att, 100000)) {
				// attitude estimator is not running
				calibration_log_critical(mavlink_log_pub, "attitude estimator not running - check system boot");
				calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
				goto out;
			}

			int progress = 100 * hrt_elapsed_time(&start) / calibration_duration;

			if (progress >= last_progress_report + 20) {
				calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress);
				last_progress_report = progress;
			}

			Eulerf att_euler{Quatf{att.q}};

			// keep min + max angles
			for (int i = 0; i < 2; ++i) {
				if (att_euler(i) < min_angles(i)) { min_angles(i) = att_euler(i); }

				if (att_euler(i) > max_angles(i)) { max_angles(i) = att_euler(i); }
			}

			att_euler(2) = 0.f; // ignore yaw

			att_euler = Eulerf{board_rotation_offset *Dcmf{att_euler}};  // subtract existing board rotation
			roll_mean += att_euler.phi();
			pitch_mean += att_euler.theta();
			++counter;
		}

		// motion detection: check that (max-min angle) is within a threshold.
		// The difference is typically <0.1 deg while at rest
		if (max_angles(0) - min_angles(0) < math::radians(0.5f) &&
		    max_angles(1) - min_angles(1) < math::radians(0.5f)) {

			had_motion = false;
		}
	}

	calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);

	roll_mean /= counter;
	pitch_mean /= counter;

	if (had_motion) {
		calibration_log_critical(mavlink_log_pub, "motion during calibration");

	} else if (fabsf(roll_mean) > 0.8f) {
		calibration_log_critical(mavlink_log_pub, "excess roll angle");

	} else if (fabsf(pitch_mean) > 0.8f) {
		calibration_log_critical(mavlink_log_pub, "excess pitch angle");

	} else {

		float roll_mean_degrees = math::degrees(roll_mean);
		float pitch_mean_degrees = math::degrees(pitch_mean);

		if (fabsf(roll_offset_current - roll_mean_degrees) > 0.1f) {
			PX4_INFO("Updating SENS_BOARD_X_OFF %.1f -> %.1f degrees", (double)roll_offset_current, (double)roll_mean_degrees);
		}

		if (fabsf(pitch_offset_current - pitch_mean_degrees) > 0.1f) {
			PX4_INFO("Updating SENS_BOARD_Y_OFF %.1f -> %.1f degrees", (double)pitch_offset_current, (double)pitch_mean_degrees);
		}

		param_set_no_notification(roll_offset_handle, &roll_mean_degrees);
		param_set_no_notification(pitch_offset_handle, &pitch_mean_degrees);
		param_notify_changes();
		success = true;
	}

out:

	if (success) {
		calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, "level");
		px4_usleep(600000); // give this message enough time to propagate
		return 0;

	} else {
		calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, "level");
		px4_usleep(600000); // give this message enough time to propagate
		return 1;
	}
}