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/**
 * @file hover_thrust_estimator.hpp
 * @brief Interface class for a hover thrust estimator
 * Convention is positive thrust, hover thrust and acceleration UP
 *
 * @author Mathieu Bresciani 	<brescianimathieu@gmail.com>
 */

#pragma once

#include <drivers/drv_hrt.h>
#include <lib/hysteresis/hysteresis.h>
#include <lib/perf/perf_counter.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/posix.h>
#include <px4_platform_common/px4_work_queue/WorkItem.hpp>
#include <uORB/Publication.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionCallback.hpp>
#include <uORB/topics/hover_thrust_estimate.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/vehicle_status.h>

#include "zero_order_hover_thrust_ekf.hpp"

using namespace time_literals;

class MulticopterHoverThrustEstimator : public ModuleBase<MulticopterHoverThrustEstimator>, public ModuleParams,
	public px4::WorkItem
{
public:
	MulticopterHoverThrustEstimator();
	~MulticopterHoverThrustEstimator() override;

	/** @see ModuleBase */
	static int task_spawn(int argc, char *argv[]);

	/** @see ModuleBase */
	static int custom_command(int argc, char *argv[]);

	/** @see ModuleBase */
	static int print_usage(const char *reason = nullptr);

	bool init();

	/** @see ModuleBase::print_status() */
	int print_status() override;

private:
	void Run() override;
	void updateParams() override;

	void reset();

	void publishStatus(const hrt_abstime &timestamp_sample);
	void publishInvalidStatus();

	ZeroOrderHoverThrustEkf _hover_thrust_ekf{};

	uORB::Publication<hover_thrust_estimate_s> _hover_thrust_ekf_pub{ORB_ID(hover_thrust_estimate)};

	uORB::SubscriptionCallbackWorkItem _vehicle_local_position_sub{this, ORB_ID(vehicle_local_position)};

	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
	uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
	uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)};

	hrt_abstime _timestamp_last{0};

	bool _armed{false};
	bool _landed{false};
	bool _in_air{false};

	bool _valid{false};

	systemlib::Hysteresis _valid_hysteresis{false};

	perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")};

	DEFINE_PARAMETERS(
		(ParamFloat<px4::params::HTE_HT_NOISE>) _param_hte_ht_noise,
		(ParamFloat<px4::params::HTE_ACC_GATE>) _param_hte_acc_gate,
		(ParamFloat<px4::params::HTE_HT_ERR_INIT>) _param_hte_ht_err_init,
		(ParamFloat<px4::params::MPC_THR_HOVER>) _param_mpc_thr_hover
	)
};