/*
 * Copyright (C) 2014 Sergey Krukowski <softsr@yahoo.de>
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

/**
 * @file subsystems/gps/gps_sim_hitl.h
 * GPS subsystem simulation from rotorcrafts horizontal/vertical reference system
 */

#ifndef GPS_SIM_HITL_H
#define GPS_SIM_HITL_H

#include "std.h"
#include "state.h"
#include "guidance/guidance_h.h"
#include "guidance/guidance_v.h"

extern bool_t gps_available;
extern uint32_t gps_sim_hitl_timer;

#define GpsEvent(_sol_available_callback) {                             \
    if (SysTimeTimer(gps_sim_hitl_timer) > 100000) {                    \
      SysTimeTimerStart(gps_sim_hitl_timer);                            \
      gps.last_msg_ticks = sys_time.nb_sec_rem;                         \
      gps.last_msg_time = sys_time.nb_sec;                              \
      if (state.ned_initialized_i) {                                    \
        if (!autopilot_in_flight) {                                     \
          struct Int32Vect2 zero_vector;                                \
          INT_VECT2_ZERO(zero_vector);                                  \
          gh_set_ref(zero_vector, zero_vector, zero_vector);            \
          INT_VECT2_ZERO(guidance_h_pos_ref);                           \
          INT_VECT2_ZERO(guidance_h_speed_ref);                         \
          INT_VECT2_ZERO(guidance_h_accel_ref);                         \
          gv_set_ref(0, 0, 0);                                          \
          guidance_v_z_ref = 0;                                         \
          guidance_v_zd_ref = 0;                                        \
          guidance_v_zdd_ref = 0;                                       \
        }                                                               \
        struct NedCoor_i ned_c;                                      \
        ned_c.x = guidance_h_pos_ref.x * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
        ned_c.y = guidance_h_pos_ref.y * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
        ned_c.z = guidance_v_z_ref * INT32_POS_OF_CM_DEN / INT32_POS_OF_CM_NUM; \
        ecef_of_ned_point_i(&gps.ecef_pos, &state.ned_origin_i, &ned_c); \
        gps.lla_pos.alt = state.ned_origin_i.lla.alt - ned_c.z;         \
        gps.hmsl = state.ned_origin_i.hmsl - ned_c.z;                   \
        ned_c.x = guidance_h_speed_ref.x * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
        ned_c.y = guidance_h_speed_ref.y * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
        ned_c.z = guidance_v_zd_ref * INT32_SPEED_OF_CM_S_DEN / INT32_SPEED_OF_CM_S_NUM; \
        ecef_of_ned_vect_i(&gps.ecef_vel, &state.ned_origin_i, &ned_c); \
        gps.fix = GPS_FIX_3D;                                           \
        gps.last_3dfix_ticks = sys_time.nb_sec_rem;                     \
        gps.last_3dfix_time = sys_time.nb_sec;                          \
        gps_available = TRUE;                                           \
      }                                                                 \
      else {                                                            \
        struct Int32Vect2 zero_vector;                                  \
        INT_VECT2_ZERO(zero_vector);                                    \
        gh_set_ref(zero_vector, zero_vector, zero_vector);              \
        gv_set_ref(0, 0, 0);                                            \
      }                                                                 \
      _sol_available_callback();                                        \
      gps_available = FALSE;                                            \
    }                                                                   \
  }

#endif /* GPS_SIM_HITL_H */
