/*
 * Navigation.cpp
 *
 *  Created on: 23 May 2022
 *      Author: Robin Marquardt
 */

#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() {}

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

  if (kalmanInit) {
    *mekfValid = multiplicativeKalmanFilter.mekfEst(
        quatJB, quatJBValid, 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(),
        mekfData);  // VALIDS FOR QUAT AND RATE ??
  } else {
    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());
    kalmanInit = true;
    *mekfValid = returnvalue::OK;

    //		Maybe we need feedback from kalmanfilter to identify if there was a problem with the
    // init of kalman filter 		where does this class know from that kalman filter was not
    // initialized ?
  }
}