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#include "../PreFlightCheck.hpp"

#include <HealthFlags.h>

#include <lib/parameters/param.h>
#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_preflight.h>
#include <uORB/topics/subsystem_info.h>

bool PreFlightCheck::imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
		const bool report_status)
{
	float test_limit = 1.0f; // pass limit re-used for each test

	// Get sensor_preflight data if available and exit with a fail recorded if not
	uORB::SubscriptionData<sensor_preflight_s> sensors_sub{ORB_ID(sensor_preflight)};
	sensors_sub.update();
	const sensor_preflight_s &sensors = sensors_sub.get();

	// Use the difference between IMU's to detect a bad calibration.
	// If a single IMU is fitted, the value being checked will be zero so this check will always pass.
	param_get(param_find("COM_ARM_IMU_ACC"), &test_limit);

	if (sensors.accel_inconsistency_m_s_s > test_limit) {
		if (report_status) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accels inconsistent - Check Cal");
			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC, false, status);
			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
		}

		return false;

	} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
		if (report_status) {
			mavlink_log_info(mavlink_log_pub, "Preflight Advice: Accels inconsistent - Check Cal");
		}
	}

	// Fail if gyro difference greater than 5 deg/sec and notify if greater than 2.5 deg/sec
	param_get(param_find("COM_ARM_IMU_GYR"), &test_limit);

	if (sensors.gyro_inconsistency_rad_s > test_limit) {
		if (report_status) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Gyros inconsistent - Check Cal");
			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO, false, status);
			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
		}

		return false;

	} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
		if (report_status) {
			mavlink_log_info(mavlink_log_pub, "Preflight Advice: Gyros inconsistent - Check Cal");
		}
	}

	return true;
}