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/**
 * @file MagnetometerBiasEstimator.cpp
 */

#include "MagnetometerBiasEstimator.hpp"

#include <px4_posix.h>
#include <drivers/drv_mag.h>
#include <mathlib/mathlib.h>

using namespace matrix;
using namespace time_literals;

MagnetometerBiasEstimator::MagnetometerBiasEstimator(const matrix::Dcmf &board_rotation) :
	ModuleParams(nullptr),
	_board_rotation(board_rotation)
{}

void MagnetometerBiasEstimator::extractBias(vehicle_magnetometer_s &mag_raw, const sensor_combined_s &gyro_raw)
{
	// fill in vectors
	Vector3f gyro(gyro_raw.gyro_rad);
	Vector3f mag(mag_raw.magnetometer_ga);

	// prepare delta time in seconds
	hrt_abstime time_stamp_current = hrt_absolute_time();
	float dt  = math::min((time_stamp_current - _time_stamp_last_loop), hrt_abstime(500_ms)) / 1e6f;
	_time_stamp_last_loop = time_stamp_current;

	_field_sensor_bias_estimator.updateEstimate(gyro, mag, dt);
	const Vector3f &bias = _field_sensor_bias_estimator.getBias();

	// save the bias to the parameters to apply it given the right circumstances
	const bool longer_than_10_sec = (time_stamp_current - _time_stamp_last_save) > hrt_abstime(10_s);
	const bool bias_significant = bias.norm_squared() > (0.01f * 0.01f);

	_actuator_armed_sub.update();

	if (!_actuator_armed_sub.get().armed && bias_significant && longer_than_10_sec) {
		saveBias(bias);
		_time_stamp_last_save = time_stamp_current;
	}

	(mag - bias).copyTo(mag_raw.magnetometer_ga);
}

void MagnetometerBiasEstimator::saveBias(const matrix::Vector3f &bias)
{
	// estimated bias is in body frame, but the driver needs sensor frame
	const Vector3f transformed_bias = _board_rotation.transpose() * bias;

	// get current calibration
	updateParams();
	Vector3f calibration_bias(_param_cal_mag0_xoff.get(),
				  _param_cal_mag0_yoff.get(),
				  _param_cal_mag0_zoff.get());

	// estimated bias comes on top of existing calibration
	calibration_bias += transformed_bias;

	// save new calibration
	_param_cal_mag0_xoff.set(calibration_bias(0));
	_param_cal_mag0_yoff.set(calibration_bias(1));
	_param_cal_mag0_zoff.set(calibration_bias(2));
	_param_cal_mag0_xoff.commit();
	_param_cal_mag0_yoff.commit();
	_param_cal_mag0_zoff.commit();

	// reset internal bias to zero because from now the driver will correct
	_field_sensor_bias_estimator.setBias(Vector3f());
}