/*
    height_cal Task
*/

/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"
#include "timers.h"
#include "device/bmi088.h"
#include "BarometerDriver/spl06.h"
#include "component/ahrs.h"
#include "module/HeightEstimation.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */

/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
AHRS_Accl_t accl_buffer;
AHRS_Quaternion_t quaternion_buffer;
float estimated_velocity;
float estimated_height;
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief ps2 Task
 *
 * \param argument 
 */
void Task_height_cal(void *argument) {
  (void)argument; 

  
  const uint32_t delay_tick = osKernelGetTickFreq() / HEIGHT_CAL_FREQ;

	osDelay(HEIGHT_CAL_INIT_DELAY); 
  uint32_t tick = osKernelGetTickCount(); 
	
  HeightEstimation_Init(HEIGHT_CAL_FREQ);
  while (1) {
    tick += delay_tick; 
    
    /*User code begin*/
	osMessageQueueGet(task_runtime.msgq.heightestimation.accl, &accl_buffer, NULL, 0);
	  osMessageQueueGet(task_runtime.msgq.heightestimation.quaternion, &quaternion_buffer, NULL, 0);
	HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_buffer, quaternion_buffer);
  
	osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0);
  osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0);
    /*User code end*/

    osDelayUntil(tick); 
  }
}