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/**
 * @file att_estimator.cpp
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Roman Bapst <romanbapst@yahoo.de>
*/

#include "attitude_estimator.h"

#include <px4/vehicle_attitude.h>
#include <mathlib/mathlib.h>
#include <platforms/px4_defines.h>

AttitudeEstimator::AttitudeEstimator() :
	_n(),
	// _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)),
	_sub_imu(_n.subscribe("/vtol/imu", 1, &AttitudeEstimator::ImuCallback, this)),
	_vehicle_attitude_pub(_n.advertise<px4::vehicle_attitude>("vehicle_attitude", 1))
{
}

void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr& msg)
{
	px4::vehicle_attitude msg_v_att;

	/* Fill px4 attitude topic with contents from modelstates topic */

	/* Convert quaternion to rotation matrix */
	math::Quaternion quat;
	//XXX: search for vtol or other (other than 'plane') vehicle here
	int index = 1;
	quat(0) = (float)msg->pose[index].orientation.w;
	quat(1) = (float)msg->pose[index].orientation.x;
	quat(2) = (float)-msg->pose[index].orientation.y;
	quat(3) = (float)-msg->pose[index].orientation.z;

	msg_v_att.q[0] = quat(0);
	msg_v_att.q[1] = quat(1);
	msg_v_att.q[2] = quat(2);
	msg_v_att.q[3] = quat(3);

	math::Matrix<3, 3> rot = quat.to_dcm();
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 3; j++) {
			PX4_R(msg_v_att.R, i, j) = rot(i, j);
		}
	}
	msg_v_att.R_valid = true;

	math::Vector<3> euler = rot.to_euler();
	msg_v_att.roll = euler(0);
	msg_v_att.pitch = euler(1);
	msg_v_att.yaw = euler(2);

	//XXX this is in inertial frame
	// msg_v_att.rollspeed = (float)msg->twist[index].angular.x;
	// msg_v_att.pitchspeed = -(float)msg->twist[index].angular.y;
	// msg_v_att.yawspeed = -(float)msg->twist[index].angular.z;

	_vehicle_attitude_pub.publish(msg_v_att);
}

void AttitudeEstimator::ImuCallback(const sensor_msgs::ImuConstPtr& msg)
{
	px4::vehicle_attitude msg_v_att;

	/* Fill px4 attitude topic with contents from modelstates topic */

	/* Convert quaternion to rotation matrix */
	math::Quaternion quat;
	//XXX: search for vtol or other (other than 'plane') vehicle here
	int index = 1;
	quat(0) = (float)msg->orientation.w;
	quat(1) = (float)msg->orientation.x;
	quat(2) = (float)-msg->orientation.y;
	quat(3) = (float)-msg->orientation.z;

	msg_v_att.q[0] = quat(0);
	msg_v_att.q[1] = quat(1);
	msg_v_att.q[2] = quat(2);
	msg_v_att.q[3] = quat(3);

	math::Matrix<3, 3> rot = quat.to_dcm();
	for (int i = 0; i < 3; i++) {
		for (int j = 0; j < 3; j++) {
			PX4_R(msg_v_att.R, i, j) = rot(i, j);
		}
	}
	msg_v_att.R_valid = true;

	math::Vector<3> euler = rot.to_euler();
	msg_v_att.roll = euler(0);
	msg_v_att.pitch = euler(1);
	msg_v_att.yaw = euler(2);

	msg_v_att.rollspeed = (float)msg->angular_velocity.x;
	msg_v_att.pitchspeed = -(float)msg->angular_velocity.y;
	msg_v_att.yawspeed = -(float)msg->angular_velocity.z;

	_vehicle_attitude_pub.publish(msg_v_att);
}


int main(int argc, char **argv)
{
  ros::init(argc, argv, "attitude_estimator");
  AttitudeEstimator m;

  ros::spin();

  return 0;
}