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/**
* @file FailureDetector.cpp
*
* @author Mathieu Bresciani	<brescianimathieu@gmail.com>
*
*/

#include "FailureDetector.hpp"

FailureDetector::FailureDetector() :
	ModuleParams(nullptr),
	_sub_vehicle_attitude_setpoint(ORB_ID(vehicle_attitude_setpoint)),
	_sub_vehicule_attitude(ORB_ID(vehicle_attitude))
{
}

void
FailureDetector::update_params()
{
	updateParams();
}

bool
FailureDetector::update()
{
	bool updated(false);

	updated = update_attitude_status();

	return updated;
}

bool
FailureDetector::update_attitude_status()
{
	bool updated(false);

	if (_sub_vehicule_attitude.update()) {
		const vehicle_attitude_s &attitude = _sub_vehicule_attitude.get();

		const matrix::Eulerf euler(matrix::Quatf(attitude.q));
		const float roll(euler.phi());
		const float pitch(euler.theta());

		const float max_roll_deg = _fail_trig_roll.get();
		const float max_pitch_deg = _fail_trig_pitch.get();
		const float max_roll(fabsf(math::radians(max_roll_deg)));
		const float max_pitch(fabsf(math::radians(max_pitch_deg)));

		if ((max_roll > 0.0f) &&
		    (fabsf(roll) > max_roll)) {

			_status.roll = true;

		} else {
			_status.roll = false;
		}

		if ((max_pitch > 0.0f) &&
		    (fabsf(pitch) > max_pitch)) {

			_status.pitch = true;

		} else {
			_status.pitch = false;
		}

		updated = true;

	} else {
		updated = false;
	}

	return updated;
}