/****************************************************************************
 *
 *   Copyright (C) 2013 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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/**
 * @file rc_calibration.cpp
 * Remote Control calibration routine
 */

#include <px4_posix.h>
#include <px4_time.h>

#include "rc_calibration.h"
#include "commander_helper.h"

#include <poll.h>
#include <unistd.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <systemlib/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>

/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

int do_trim_calibration(orb_advert_t *mavlink_log_pub)
{
	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
	usleep(400000);
	struct manual_control_setpoint_s sp;
	bool changed;
	orb_check(sub_man, &changed);

	if (!changed) {
		mavlink_log_critical(mavlink_log_pub, "no inputs, aborting");
		return ERROR;
	}

	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);

	/* load trim values which are active */
	float roll_trim_active;
	param_get(param_find("TRIM_ROLL"), &roll_trim_active);
	float pitch_trim_active;
	param_get(param_find("TRIM_PITCH"), &pitch_trim_active);
	float yaw_trim_active;
	param_get(param_find("TRIM_YAW"), &yaw_trim_active);

	/* set parameters: the new trim values are the combination of active trim values
	   and the values coming from the remote control of the user
	*/
	float p = sp.y + roll_trim_active;
	int p1r = param_set(param_find("TRIM_ROLL"), &p);
	/*
	 we explicitly swap sign here because the trim is added to the actuator controls
	 which are moving in an inverse sense to manual pitch inputs
	*/
	p = -sp.x + pitch_trim_active;
	int p2r = param_set(param_find("TRIM_PITCH"), &p);
	p = sp.r + yaw_trim_active;
	int p3r = param_set(param_find("TRIM_YAW"), &p);

	/* store to permanent storage */
	/* auto-save */
	int save_ret = param_save_default();

	if (save_ret != 0 || p1r != 0 || p2r != 0 || p3r != 0) {
		mavlink_log_critical(mavlink_log_pub, "TRIM: PARAM SET FAIL");
		px4_close(sub_man);
		return ERROR;
	}

	mavlink_log_info(mavlink_log_pub, "trim cal done");
	px4_close(sub_man);
	return OK;
}