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#include "vtolCheck.hpp"

using namespace time_literals;

void VtolChecks::checkAndReport(const Context &context, Report &reporter)
{
	vtol_vehicle_status_s vtol_vehicle_status;

	if (_vtol_vehicle_status_sub.copy(&vtol_vehicle_status)) {
		reporter.failsafeFlags().vtol_fixed_wing_system_failure = vtol_vehicle_status.fixed_wing_system_failure;

		if (reporter.failsafeFlags().vtol_fixed_wing_system_failure) {
			/* EVENT
			 */
			reporter.armingCheckFailure(NavModes::All, health_component_t::system,
						    events::ID("check_vtol_fixed_wing_system_failure"),
						    events::Log::Error,
						    "VTOL fixed-wing system failure detected. Verify reason for failure, and reboot the vehicle once confirmed safe");

			if (reporter.mavlink_log_pub()) {
				mavlink_log_info(reporter.mavlink_log_pub(), "Preflight Fail: VTOL fixed-wing system failure detected\t");
			}
		}
	}
}