/****************************************************************************
 *
 *   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
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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#include "../PreFlightCheck.hpp"

#include <drivers/drv_hrt.h>
#include <HealthFlags.h>
#include <math.h>
#include <px4_defines.h>
#include <lib/sensor_calibration/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/sensor_accel.h>

using namespace time_literals;

bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
					const bool optional, int32_t &device_id, const bool report_fail)
{
	const bool exists = (orb_exists(ORB_ID(sensor_accel), instance) == PX4_OK);
	bool calibration_valid = false;
	bool valid = true;

	if (exists) {

		uORB::SubscriptionData<sensor_accel_s> accel{ORB_ID(sensor_accel), instance};

		valid = (accel.get().device_id != 0) && (accel.get().timestamp != 0);

		if (!valid) {
			if (report_fail) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Accel %u", instance);
			}
		}

		device_id = accel.get().device_id;

		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
			calibration_valid = true;

		} else {
			calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
		}

		if (!calibration_valid) {
			if (report_fail) {
				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel %u uncalibrated", instance);
			}

		} else {
			const float accel_magnitude = sqrtf(accel.get().x * accel.get().x
							    + accel.get().y * accel.get().y
							    + accel.get().z * accel.get().z);

			if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
				if (report_fail) {
					mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Range, hold still on arming");
				}

				// this is fatal
				valid = false;
			}
		}

	} else {
		if (!optional && report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Accel Sensor %u missing", instance);
		}
	}

	const bool success = calibration_valid && valid;

	return success;
}