text: /****************************************************************************
   *
   *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  #include "../PreFlightCheck.hpp"
  
  #include <drivers/drv_hrt.h>
  #include <HealthFlags.h>
  #include <px4_defines.h>
  #include <lib/sensor_calibration/Utilities.hpp>
  #include <lib/systemlib/mavlink_log.h>
  #include <uORB/Subscription.hpp>
  #include <uORB/topics/sensor_mag.h>
  
  using namespace time_literals;
  
  bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
  				       const bool optional, int32_t &device_id, const bool report_fail)
  {
  	const bool exists = (orb_exists(ORB_ID(sensor_mag), instance) == PX4_OK);
  	bool calibration_valid = false;
  	bool valid = false;
  
  	if (exists) {
  
  		uORB::SubscriptionData<sensor_mag_s> magnetometer{ORB_ID(sensor_mag), instance};
  
  		valid = (magnetometer.get().device_id != 0) && (magnetometer.get().timestamp != 0);
  
  		if (!valid) {
  			if (report_fail) {
  				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: no valid data from Compass #%u", instance);
  			}
  		}
  
  		device_id = magnetometer.get().device_id;
  
  		calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
  
  		if (!calibration_valid) {
  			if (report_fail) {
  				mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compass #%u uncalibrated", instance);
  			}
  		}
  
  	} else {
  		if (!optional && report_fail) {
  			mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Compass Sensor #%u missing", instance);
  		}
  	}
  
  	const bool success = calibration_valid && valid;
  
  	if (instance == 0) {
  		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG, exists, !optional, success, status);
  
  	} else if (instance == 1) {
  		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_MAG2, exists, !optional, success, status);
  	}
  
  	return success;
  }
  