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/**
 * Test EKF altitude estimation while grounded and using Rangefinder as primary alt source
 */

#include <gtest/gtest.h>
#include "EKF/ekf.h"
#include "sensor_simulator/sensor_simulator.h"
#include "sensor_simulator/ekf_wrapper.h"
#include "test_helper/reset_logging_checker.h"

class EkfGroundedTest : public ::testing::Test
{
public:

	EkfGroundedTest(): ::testing::Test(),
		_ekf{std::make_shared<Ekf>()},
		_sensor_simulator(_ekf),
		_ekf_wrapper(_ekf) {};

	std::shared_ptr<Ekf> _ekf;
	SensorSimulator _sensor_simulator;
	EkfWrapper _ekf_wrapper;

	void SetUp() override
	{
		// Init EKF
		_ekf->init(0);
		_sensor_simulator.runSeconds(0.1);
		_ekf->set_in_air_status(false);
		_ekf->set_vehicle_at_rest(true);

		_sensor_simulator._rng.setData(0.1f, 100);
		_sensor_simulator._rng.setLimits(0.1f, 25.f);

		_sensor_simulator.startGps();
		_sensor_simulator.startBaro();
		_sensor_simulator.startRangeFinder();

		// Set Range as primary height source
		_ekf_wrapper.setRangeHeightRef();

		// Enable fusion for all height sources
		_ekf_wrapper.enableBaroHeightFusion();
		_ekf_wrapper.enableGpsHeightFusion();
		_ekf_wrapper.enableRangeHeightFusion();

		// Give EKF time for GPS
		_sensor_simulator.runSeconds(20);
	}
};

TEST_F(EkfGroundedTest, rangeFinderOnGround)
{
	EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::RANGE);
	EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
	EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());

	float distance = 0.17f;
	_sensor_simulator._rng.setData(distance, 100);

	_sensor_simulator.runSeconds(60);

	EXPECT_NEAR(_ekf->getLatLonAlt().altitude(), 0, 0.5f);
}