/****************************************************************************
 *
 *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * 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
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 ****************************************************************************/


#include "PX4Magnetometer.hpp"

#include <lib/drivers/device/Device.hpp>

PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
	_device_id{device_id},
	_rotation{rotation}
{
}

PX4Magnetometer::~PX4Magnetometer()
{
	_sensor_pub.unadvertise();
}

void PX4Magnetometer::set_device_type(uint8_t devtype)
{
	// current DeviceStructure
	union device::Device::DeviceId device_id;
	device_id.devid = _device_id;

	// update to new device type
	device_id.devid_s.devtype = devtype;

	// copy back
	_device_id = device_id.devid;
}

void PX4Magnetometer::update(const hrt_abstime &timestamp_sample, float x, float y, float z)
{
	sensor_mag_s report;
	report.timestamp_sample = timestamp_sample;
	report.device_id = _device_id;
	report.temperature = _temperature;
	report.error_count = _error_count;

	// Apply rotation (before scaling)
	rotate_3f(_rotation, x, y, z);

	report.x = x * _scale;
	report.y = y * _scale;
	report.z = z * _scale;

	report.timestamp = hrt_absolute_time();
	_sensor_pub.publish(report);
}