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/**
 * @file gyro_calibration.cpp
 *
 * Gyroscope calibration routine
 */

#include <px4_platform_common/px4_config.h>
#include "factory_calibration_storage.h"
#include "gyro_calibration.h"
#include "calibration_messages.h"
#include "calibration_routines.h"
#include "commander_helper.h"

#include <px4_platform_common/posix.h>
#include <px4_platform_common/defines.h>
#include <px4_platform_common/time.h>

#include <drivers/drv_hrt.h>
#include <lib/mathlib/math/filter/MedianFilter.hpp>
#include <lib/mathlib/mathlib.h>
#include <lib/parameters/param.h>
#include <lib/sensor/calibration/Gyroscope.hpp>
#include <lib/sensor/Utilities.hpp>
#include <lib/systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionBlocking.hpp>
#include <uORB/topics/sensor_gyro.h>

static constexpr char sensor_name[] {"gyro"};
static constexpr unsigned MAX_GYROS = 4;

using matrix::Vector3f;

/// Data passed to calibration worker routine
struct gyro_worker_data_t {
	orb_advert_t *mavlink_log_pub{nullptr};

	sensor::calibration::Gyroscope calibrations[MAX_GYROS] {};

	Vector3f offset[MAX_GYROS] {};

	math::MedianFilter<float, 9> filter[3] {};
};

static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
{
	const hrt_abstime calibration_started = hrt_absolute_time();
	unsigned calibration_counter[MAX_GYROS] {};
	static constexpr unsigned CALIBRATION_COUNT = 250;
	unsigned poll_errcount = 0;

	uORB::SubscriptionBlocking<sensor_gyro_s> gyro_sub[MAX_GYROS] {
		{ORB_ID(sensor_gyro), 0, 0},
		{ORB_ID(sensor_gyro), 0, 1},
		{ORB_ID(sensor_gyro), 0, 2},
		{ORB_ID(sensor_gyro), 0, 3},
	};

	/* use slowest gyro to pace, but count correctly per-gyro for statistics */
	unsigned slow_count = 0;

	while (slow_count < CALIBRATION_COUNT) {
		if (calibrate_cancel_check(worker_data.mavlink_log_pub, calibration_started)) {
			return calibrate_return_cancelled;
		}

		if (gyro_sub[0].updatedBlocking(100000)) {
			unsigned update_count = CALIBRATION_COUNT;

			for (unsigned gyro_index = 0; gyro_index < MAX_GYROS; gyro_index++) {
				if (worker_data.calibrations[gyro_index].device_id() != 0) {

					if (calibration_counter[gyro_index] >= CALIBRATION_COUNT) {
						// Skip if instance has enough samples
						continue;
					}

					sensor_gyro_s gyro_report;

					while (gyro_sub[gyro_index].update(&gyro_report)) {
						// fetch optional thermal offset corrections in sensor frame
						const Vector3f &thermal_offset{worker_data.calibrations[gyro_index].thermal_offset()};

						worker_data.offset[gyro_index] += Vector3f{gyro_report.x, gyro_report.y, gyro_report.z} - thermal_offset;

						calibration_counter[gyro_index]++;

						if (gyro_index == 0) {
							worker_data.filter[0].insert(gyro_report.x - thermal_offset(0));
							worker_data.filter[1].insert(gyro_report.y - thermal_offset(1));
							worker_data.filter[2].insert(gyro_report.z - thermal_offset(2));
						}
					}

					// Maintain the sample count of the slowest sensor
					if (calibration_counter[gyro_index] && calibration_counter[gyro_index] < update_count) {
						update_count = calibration_counter[gyro_index];
					}
				}
			}

			const unsigned progress = (update_count * 100) / CALIBRATION_COUNT;

			if (progress % 10 == 0) {
				calibration_log_info(worker_data.mavlink_log_pub, CAL_QGC_PROGRESS_MSG, progress);
			}

			// Propagate out the slowest sensor's count
			if (slow_count < update_count) {
				slow_count = update_count;
			}

		} else {
			poll_errcount++;
		}

		if (poll_errcount > 1000) {
			calibration_log_critical(worker_data.mavlink_log_pub, CAL_ERROR_SENSOR_MSG);
			return calibrate_return_error;
		}
	}

	for (unsigned s = 0; s < MAX_GYROS; s++) {
		if ((worker_data.calibrations[s].device_id() != 0) && (calibration_counter[s] < CALIBRATION_COUNT / 2)) {
			calibration_log_critical(worker_data.mavlink_log_pub, "ERROR: missing data, sensor %d", s)
			return calibrate_return_error;
		}

		worker_data.offset[s] /= calibration_counter[s];
	}

	return calibrate_return_ok;
}

int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
{
	int res = PX4_OK;

	calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);

	gyro_worker_data_t worker_data{};
	worker_data.mavlink_log_pub = mavlink_log_pub;

	// We should not try to subscribe if the topic doesn't actually exist and can be counted.
	const unsigned orb_gyro_count = orb_group_count(ORB_ID(sensor_gyro));

	// Warn that we will not calibrate more than MAX_GYROS gyroscopes
	if (orb_gyro_count > MAX_GYROS) {
		calibration_log_critical(mavlink_log_pub, "Detected %u gyros, but will calibrate only %u", orb_gyro_count, MAX_GYROS);

	} else if (orb_gyro_count < 1) {
		calibration_log_critical(mavlink_log_pub, "No gyros found");
		return PX4_ERROR;
	}

	for (uint8_t cur_gyro = 0; cur_gyro < MAX_GYROS; cur_gyro++) {
		uORB::SubscriptionData<sensor_gyro_s> gyro_sub{ORB_ID(sensor_gyro), cur_gyro};

		if (gyro_sub.advertised() && (gyro_sub.get().device_id != 0) && (gyro_sub.get().timestamp > 0)) {
			worker_data.calibrations[cur_gyro].set_device_id(gyro_sub.get().device_id);
		}
	}

	unsigned try_count = 0;
	unsigned max_tries = 20;
	res = PX4_ERROR;

	do {
		// Calibrate gyro and ensure user didn't move
		calibrate_return cal_return = gyro_calibration_worker(worker_data);

		if (cal_return == calibrate_return_cancelled) {
			// Cancel message already sent, we are done here
			res = PX4_ERROR;
			break;

		} else if (cal_return == calibrate_return_error) {
			res = PX4_ERROR;

		} else {
			/* check offsets using a median filter */
			float xdiff = worker_data.filter[0].median() - worker_data.offset[0](0);
			float ydiff = worker_data.filter[1].median() - worker_data.offset[0](1);
			float zdiff = worker_data.filter[2].median() - worker_data.offset[0](2);

			/* maximum allowable calibration error */
			static constexpr float maxoff = math::radians(0.6f);

			if (!PX4_ISFINITE(worker_data.offset[0](0)) ||
			    !PX4_ISFINITE(worker_data.offset[0](1)) ||
			    !PX4_ISFINITE(worker_data.offset[0](2)) ||
			    fabsf(xdiff) > maxoff || fabsf(ydiff) > maxoff || fabsf(zdiff) > maxoff) {

				calibration_log_critical(mavlink_log_pub, "motion, retrying..");
				res = PX4_ERROR;

			} else {
				res = PX4_OK;
			}
		}

		try_count++;

	} while (res == PX4_ERROR && try_count <= max_tries);

	if (try_count >= max_tries) {
		calibration_log_critical(mavlink_log_pub, "ERROR: Motion during calibration");
		res = PX4_ERROR;
	}

	FactoryCalibrationStorage factory_storage;

	if (factory_storage.open() != PX4_OK) {
		calibration_log_critical(mavlink_log_pub, "ERROR: cannot open calibration storage");
		res = PX4_ERROR;
	}

	if (res == PX4_OK) {
		// set offset parameters to new values
		bool param_save = false;
		bool failed = true;

		for (unsigned uorb_index = 0; uorb_index < MAX_GYROS; uorb_index++) {

			auto &calibration = worker_data.calibrations[uorb_index];

			if (calibration.device_id() != 0) {
				calibration.set_offset(worker_data.offset[uorb_index]);
				calibration.PrintStatus();

				if (calibration.ParametersSave(uorb_index, true)) {
					param_save = true;
					failed = false;

				} else {
					failed = true;
					calibration_log_critical(mavlink_log_pub, "calibration save failed");
					break;
				}
			}
		}

		if (!failed && factory_storage.store() != PX4_OK) {
			failed = true;
		}

		if (param_save) {
			param_notify_changes();
		}

		if (!failed) {
			calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
			px4_usleep(600000); // give this message enough time to propagate
			return PX4_OK;
		}
	}

	calibration_log_critical(mavlink_log_pub, CAL_QGC_FAILED_MSG, sensor_name);
	px4_usleep(600000); // give this message enough time to propagate

	return PX4_ERROR;
}