/****************************************************************************
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 *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
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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
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
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#pragma once

#include <lib/conversion/rotation.h>
#include <lib/matrix/matrix/math.hpp>
#include <px4_platform_common/px4_config.h>
#include <px4_platform_common/log.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/battery_status.h>

namespace calibration
{
class Magnetometer
{
public:
	static constexpr int MAX_SENSOR_COUNT = 4;

	static constexpr uint8_t DEFAULT_PRIORITY = 50;
	static constexpr uint8_t DEFAULT_EXTERNAL_PRIORITY = 75;

	static constexpr const char *SensorString() { return "MAG"; }

	Magnetometer();
	explicit Magnetometer(uint32_t device_id, bool external = false);

	~Magnetometer() = default;

	void PrintStatus();

	void set_calibration_index(uint8_t calibration_index) { _calibration_index = calibration_index; }
	void set_device_id(uint32_t device_id, bool external = false);
	void set_external(bool external = true);
	bool set_offset(const matrix::Vector3f &offset);
	bool set_scale(const matrix::Vector3f &scale);
	bool set_offdiagonal(const matrix::Vector3f &offdiagonal);
	void set_rotation(Rotation rotation);
	void set_temperature(float temperature) { _temperature = temperature; };

	uint8_t calibration_count() const { return _calibration_count; }
	uint32_t device_id() const { return _device_id; }
	bool enabled() const { return (_priority > 0); }
	bool external() const { return _external; }
	const matrix::Vector3f &offset() const { return _offset; }
	const int32_t &priority() const { return _priority; }
	const matrix::Dcmf &rotation() const { return _rotation; }
	const Rotation &rotation_enum() const { return _rotation_enum; }
	const matrix::Matrix3f &scale() const { return _scale; }

	// apply offsets and scale
	// rotate corrected measurements from sensor to body frame
	inline matrix::Vector3f Correct(const matrix::Vector3f &data) const
	{
		return _rotation * (_scale * ((data + _power * _power_compensation) - _offset));
	}

	// Compute sensor offset from bias (board frame)
	matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
	{
		return _scale.I() * _rotation.I() * bias + _offset;
	}

	bool ParametersSave();
	void ParametersUpdate();

	void Reset();

	void UpdatePower(float power) { _power = power; }

private:
	static constexpr float TEMPERATURE_INVALID = -1000.f;

	Rotation _rotation_enum{ROTATION_NONE};

	matrix::Dcmf _rotation;
	matrix::Vector3f _offset;
	matrix::Matrix3f _scale;
	matrix::Vector3f _power_compensation;
	float _power{0.f};
	float _temperature{NAN};

	int8_t _calibration_index{-1};
	uint32_t _device_id{0};
	int32_t _priority{-1};

	bool _external{false};

	uint8_t _calibration_count{0};
};
} // namespace calibration