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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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 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file rc_calibration.cpp
 * Remote Control calibration routine
 */

#include "rc_calibration.h"
#include "commander_helper.h"

#include <poll.h>
#include <unistd.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>

/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;

int do_trim_calibration(int mavlink_fd)
{
	int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
	usleep(200000);
	struct manual_control_setpoint_s sp;
	bool changed;
	orb_check(sub_man, &changed);

	if (!changed) {
		mavlink_log_critical(mavlink_fd, "no inputs, aborting");
		return ERROR;
	}

	orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp);

	/* set parameters */
	float p = sp.y;
	param_set(param_find("TRIM_ROLL"), &p);
	p = sp.x;
	param_set(param_find("TRIM_PITCH"), &p);
	p = sp.r;
	param_set(param_find("TRIM_YAW"), &p);

	/* store to permanent storage */
	/* auto-save */
	int save_ret = param_save_default();

	if (save_ret != 0) {
		mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL");
		close(sub_man);
		return ERROR;
	}

	mavlink_log_info(mavlink_fd, "trim cal done");
	close(sub_man);
	return OK;
}