/****************************************************************************
 *
 *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#include "../PreFlightCheck.hpp"

#include <HealthFlags.h>
#include <drivers/drv_hrt.h>
#include <math.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/subsystem_info.h>

using namespace time_literals;

bool PreFlightCheck::airspeedCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const bool optional,
				   const bool report_fail, const bool prearm)
{
	bool present = true;
	bool success = true;

	uORB::SubscriptionData<airspeed_s> airspeed_sub{ORB_ID(airspeed)};
	airspeed_sub.update();
	const airspeed_s &airspeed = airspeed_sub.get();

	if (hrt_elapsed_time(&airspeed.timestamp) > 1_s) {
		if (report_fail && !optional) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor missing");
		}

		present = false;
		success = false;
		goto out;
	}

	/*
	 * Check if voter thinks the confidence is low. High-end sensors might have virtually zero noise
	 * on the bench and trigger false positives of the voter. Therefore only fail this
	 * for a pre-arm check, as then the cover is off and the natural airflow in the field
	 * will ensure there is not zero noise.
	 */
	if (prearm && fabsf(airspeed.confidence) < 0.95f) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Airspeed Sensor stuck");
		}

		present = true;
		success = false;
		goto out;
	}

	/**
	 * Check if airspeed is higher than 4m/s (accepted max) while the vehicle is landed / not flying
	 * Negative and positive offsets are considered. Do not check anymore while arming because pitot cover
	 * might have been removed.
	 */
	if (fabsf(airspeed.indicated_airspeed_m_s) > 4.0f && !prearm) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: check Airspeed Cal or Pitot");
		}

		present = true;
		success = false;
		goto out;
	}

out:
	set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_DIFFPRESSURE, present, !optional, success, status);

	return success;
}