#include "Navigation.h"

#include <fsfw/globalfunctions/math/MatrixOperations.h>
#include <fsfw/globalfunctions/math/QuaternionOperations.h>
#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <math.h>

#include "util/CholeskyDecomposition.h"
#include "util/MathOperations.h"

Navigation::Navigation(AcsParameters *acsParameters_) : multiplicativeKalmanFilter(acsParameters_) {
  acsParameters = *acsParameters_;
}

Navigation::~Navigation() {}

ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
                                  acsctrl::GyrDataProcessed *gyrDataProcessed,
                                  acsctrl::MgmDataProcessed *mgmDataProcessed,
                                  acsctrl::SusDataProcessed *susDataProcessed,
                                  acsctrl::MekfData *mekfData) {
  double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
                      sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
  bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
                     sensorValues->strSet.caliQy.isValid() &&
                     sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();

  if (kalmanInit) {
    return multiplicativeKalmanFilter.mekfEst(
        quatIB, quatIBValid, gyrDataProcessed->gyrVecTot.value,
        gyrDataProcessed->gyrVecTot.isValid(), mgmDataProcessed->mgmVecTot.value,
        mgmDataProcessed->mgmVecTot.isValid(), susDataProcessed->susVecTot.value,
        susDataProcessed->susVecTot.isValid(), susDataProcessed->sunIjkModel.value,
        susDataProcessed->sunIjkModel.isValid(), mgmDataProcessed->magIgrfModel.value,
        mgmDataProcessed->magIgrfModel.isValid(), acsParameters.onBoardParams.sampleTime, mekfData);
  } else {
    ReturnValue_t result;
    result = multiplicativeKalmanFilter.init(
        mgmDataProcessed->mgmVecTot.value, mgmDataProcessed->mgmVecTot.isValid(),
        susDataProcessed->susVecTot.value, susDataProcessed->susVecTot.isValid(),
        susDataProcessed->sunIjkModel.value, susDataProcessed->sunIjkModel.isValid(),
        mgmDataProcessed->magIgrfModel.value, mgmDataProcessed->magIgrfModel.isValid(), mekfData);
    kalmanInit = true;
    return result;
  }
}

void Navigation::resetMekf(acsctrl::MekfData *mekfData) {
  multiplicativeKalmanFilter.reset(mekfData);
}