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/**
 * @file PreflightCheck.h
 *
 * Preflight check for main system components
 *
 * @author Johan Jansen <jnsn.johan@gmail.com>
 */

#include <drivers/drv_hrt.h>

#pragma once

namespace Preflight
{
/**
* Runs a preflight check on all sensors to see if they are properly calibrated and healthy
*
* The function won't fail the test if optional sensors are not found, however,
* it will fail the test if optional sensors are found but not in working condition.
*
* @param mavlink_log_pub
*   Mavlink output orb handle reference for feedback when a sensor fails
* @param checkMag
*   true if the magneteometer should be checked
* @param checkAcc
*   true if the accelerometers should be checked
* @param checkGyro
*   true if the gyroscopes should be checked
* @param checkBaro
*   true if the barometer should be checked
* @param checkAirspeed
*   true if the airspeed sensor should be checked
* @param checkRC
*   true if the Remote Controller should be checked
* @param checkGNSS
*   true if the GNSS receiver should be checked
**/
bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkSensors, bool checkAirspeed, bool checkRC, bool checkGNSS,
    bool checkDynamic, bool isVTOL, bool reportFailures, bool prearm, hrt_abstime time_since_boot);

static constexpr unsigned max_mandatory_gyro_count = 1;
static constexpr unsigned max_optional_gyro_count = 3;

static constexpr unsigned max_mandatory_accel_count = 1;
static constexpr unsigned max_optional_accel_count = 3;

static constexpr unsigned max_mandatory_mag_count = 1;
static constexpr unsigned max_optional_mag_count = 4;

static constexpr unsigned max_mandatory_baro_count = 1;
static constexpr unsigned max_optional_baro_count = 1;

}
