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 * 1. Redistributions of source code must retain the above copyright
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/**
 * @file airspeed_calibration.cpp
 * Airspeed sensor calibration routine
 */

#include "airspeed_calibration.h"
#include "commander_helper.h"

#include <stdio.h>
#include <poll.h>
#include <math.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/differential_pressure.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>

void do_airspeed_calibration(int mavlink_fd)
{
	/* give directions */
	mavlink_log_info(mavlink_fd, "airspeed calibration starting, keep it still");

	const int calibration_count = 2500;

	int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
	struct differential_pressure_s diff_pres;

	int calibration_counter = 0;
	float diff_pres_offset = 0.0f;

	while (calibration_counter < calibration_count) {

		/* wait blocking for new data */
		struct pollfd fds[1];
		fds[0].fd = diff_pres_sub;
		fds[0].events = POLLIN;

		int poll_ret = poll(fds, 1, 1000);

		if (poll_ret) {
			orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
			diff_pres_offset += diff_pres.differential_pressure_pa;
			calibration_counter++;

		} else if (poll_ret == 0) {
			/* any poll failure for 1s is a reason to abort */
			mavlink_log_info(mavlink_fd, "airspeed calibration aborted");
			return;
		}
	}

	diff_pres_offset = diff_pres_offset / calibration_count;

	if (isfinite(diff_pres_offset)) {

		if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
			mavlink_log_critical(mavlink_fd, "Setting offs failed!");
		}

		/* auto-save to EEPROM */
		int save_ret = param_save_default();

		if (save_ret != 0) {
			warn("WARNING: auto-save of params to storage failed");
		}

		//char buf[50];
		//sprintf(buf, "[cmd] accel cal: x:%8.4f y:%8.4f z:%8.4f\n", (double)accel_offset[0], (double)accel_offset[1], (double)accel_offset[2]);
		//mavlink_log_info(mavlink_fd, buf);
		mavlink_log_info(mavlink_fd, "airspeed calibration done");

		tune_positive();

	} else {
		mavlink_log_info(mavlink_fd, "airspeed calibration FAILED (NaN)");
	}

	close(diff_pres_sub);
}