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 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
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#include "../PreFlightCheck.hpp"

#include <systemlib/mavlink_log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/manual_control_switches.h>

using namespace time_literals;

bool PreFlightCheck::manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail)
{
	bool success = true;

	uORB::SubscriptionData<manual_control_switches_s> manual_control_switches_sub{ORB_ID(manual_control_switches)};
	const manual_control_switches_s &manual_control_switches = manual_control_switches_sub.get();

	if (manual_control_switches.timestamp != 0) {

		// check action switches
		if (manual_control_switches.return_switch == manual_control_switches_s::SWITCH_POS_ON) {
			success = false;

			if (report_fail) {
				mavlink_log_critical(mavlink_log_pub, "Failure: RTL switch engaged");
			}
		}

		if (manual_control_switches.kill_switch == manual_control_switches_s::SWITCH_POS_ON) {
			success = false;

			if (report_fail) {
				mavlink_log_critical(mavlink_log_pub, "Failure: Kill switch engaged");
			}
		}

		if (manual_control_switches.gear_switch == manual_control_switches_s::SWITCH_POS_ON) {
			success = false;

			if (report_fail) {
				mavlink_log_critical(mavlink_log_pub, "Failure: Landing gear switch set in UP position");
			}
		}

	}

	return success;
}