/*
    height_cal Task
    
*/

/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "task\user_task.h"
#include "timers.h"
#include "device/bmi088.h"
#include "BarometerDriver/spl06.h"

#include "component/ahrs.h"
#include "module/HeightEstimation.h"
/* USER INCLUDE END */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
float accl_z_buffer;
float estimated_velocity;
float estimated_height;
/* USER STRUCT END */

/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_height_cal(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

  
  /* 计算任务运行到指定频率需要等待的tick数 */
  const uint32_t delay_tick = osKernelGetTickFreq() / HEIGHT_CAL_FREQ;

  osDelay(HEIGHT_CAL_INIT_DELAY); /* 延时一段时间再开启任务 */

  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
  /* USER CODE INIT BEGIN */
  HeightEstimation_Init(HEIGHT_CAL_FREQ);
  /* USER CODE INIT END */
  
  while (1) {
    tick += delay_tick; /* 计算下一个唤醒时刻 */
    /* USER CODE BEGIN */
	osMessageQueueGet(task_runtime.msgq.heightestimation.accl_z, &accl_z_buffer, NULL, 0);
	HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_z_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); /* 运行结束，等待下一次唤醒 */
  }
  
}