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/**
 * @file PreFlightCheckHelper.cpp
 * Class handling the EKF2 innovation pre flight checks
 */

#include "PreFlightChecker.hpp"

void PreFlightChecker::update(const float dt, const estimator_innovations_s &innov)
{
	const float alpha = InnovationLpf::computeAlphaFromDtAndTauInv(dt, _innov_lpf_tau_inv);

	_has_heading_failed = preFlightCheckHeadingFailed(innov, alpha);
	_has_horiz_vel_failed = preFlightCheckHorizVelFailed(innov, alpha);
	_has_vert_vel_failed = preFlightCheckVertVelFailed(innov, alpha);
	_has_height_failed = preFlightCheckHeightFailed(innov, alpha);
}

bool PreFlightChecker::preFlightCheckHeadingFailed(const estimator_innovations_s &innov, const float alpha)
{
	const float heading_test_limit = selectHeadingTestLimit();
	const float heading_innov_spike_lim = 2.0f * heading_test_limit;

	const float heading_innov_lpf = _filter_heading_innov.update(innov.heading, alpha, heading_innov_spike_lim);

	return checkInnovFailed(heading_innov_lpf, innov.heading, heading_test_limit, heading_innov_spike_lim);
}

float PreFlightChecker::selectHeadingTestLimit()
{
	// Select the max allowed heading innovaton depending on whether we are not aiding navigation using
	// observations in the NE reference frame and if the vehicle can use GPS course to realign in flight (fixedwing sideslip fusion).
	const bool is_ne_aiding = _is_using_gps_aiding || _is_using_ev_pos_aiding;

	return (is_ne_aiding && !_can_observe_heading_in_flight)
	       ? _nav_heading_innov_test_lim // more restrictive test limit
	       : _heading_innov_test_lim; // less restrictive test limit
}

bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_s &innov, const float alpha)
{
	bool has_failed = false;

	if (_is_using_gps_aiding || _is_using_ev_vel_aiding) {
		const Vector2f vel_ne_innov = Vector2f(fmaxf(fabsf(innov.gps_hvel[0]), fabsf(innov.ev_hvel[0])),
						       fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1])));
		Vector2f vel_ne_innov_lpf;
		vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
		vel_ne_innov_lpf(1) = _filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
		has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
	}

	if (_is_using_flow_aiding) {
		const Vector2f flow_innov = Vector2f(innov.flow);
		Vector2f flow_innov_lpf;
		flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
		flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
		has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim);
	}

	return has_failed;
}

bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha)
{
	const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel));     // only temporary solution
	const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
	return checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
}

bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha)
{
	bool has_failed = false;

	if (_is_using_baro_hgt_aiding) {
		const float baro_hgt_innov_lpf = _filter_baro_hgt_innov.update(innov.baro_vpos, alpha, _hgt_innov_spike_lim);
		has_failed |= checkInnovFailed(baro_hgt_innov_lpf, innov.baro_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim);
	}

	if (_is_using_gps_hgt_aiding) {
		const float gps_hgt_innov_lpf = _filter_gps_hgt_innov.update(innov.gps_vpos, alpha, _hgt_innov_spike_lim);
		has_failed |= checkInnovFailed(gps_hgt_innov_lpf, innov.gps_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim);
	}

	if (_is_using_rng_hgt_aiding) {
		const float rng_hgt_innov_lpf = _filter_rng_hgt_innov.update(innov.rng_vpos, alpha, _hgt_innov_spike_lim);
		has_failed |= checkInnovFailed(rng_hgt_innov_lpf, innov.rng_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim);
	}

	if (_is_using_ev_hgt_aiding) {
		const float ev_hgt_innov_lpf = _filter_ev_hgt_innov.update(innov.ev_vpos, alpha, _hgt_innov_spike_lim);
		has_failed |= checkInnovFailed(ev_hgt_innov_lpf, innov.ev_vpos, _hgt_innov_test_lim, _hgt_innov_spike_lim);
	}

	return has_failed;
}

bool PreFlightChecker::checkInnovFailed(const float innov_lpf, const float innov, const float test_limit,
					const float spike_limit)
{
	return fabsf(innov_lpf) > test_limit || fabsf(innov) > spike_limit;
}

bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov_lpf, const Vector2f &innov, const float test_limit,
		const float spike_limit)
{
	return innov_lpf.norm_squared() > sq(test_limit)
	       || innov.norm_squared() > sq(spike_limit);
}

void PreFlightChecker::reset()
{
	_is_using_gps_aiding = false;
	_is_using_flow_aiding = false;
	_is_using_ev_pos_aiding = false;
	_is_using_ev_vel_aiding = false;
	_is_using_baro_hgt_aiding = false;
	_is_using_gps_hgt_aiding = false;
	_is_using_rng_hgt_aiding = false;
	_is_using_ev_hgt_aiding = false;
	_has_heading_failed = false;
	_has_horiz_vel_failed = false;
	_has_vert_vel_failed = false;
	_has_height_failed = false;
	_filter_vel_n_innov.reset();
	_filter_vel_e_innov.reset();
	_filter_vel_d_innov.reset();
	_filter_baro_hgt_innov.reset();
	_filter_gps_hgt_innov.reset();
	_filter_rng_hgt_innov.reset();
	_filter_ev_hgt_innov.reset();
	_filter_heading_innov.reset();
	_filter_flow_x_innov.reset();
	_filter_flow_y_innov.reset();
}