MockLinkPX4Calibration.h

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#pragma once
 
#include <QtCore/QMutex>
 
class MockLink;
 
class MockLinkPX4Calibration
{
public:
    enum class Pose {
        None = -1,
        TailDown = 0,   
        NoseDown,       
        Left,           
        Right,          
        UpsideDown,     
        RightSideUp,    
    };
    static constexpr int kSideCount = 6;
 
    explicit MockLinkPX4Calibration(MockLink *mockLink);
 
    void startMagCalibration();
 
    void startAccelCalibration();
 
    bool cancel();
 
    bool calibrationActive() const;
 
    void setPose(Pose pose);
 
    void run10HzTasks();
 
private:
    enum class CalType {
        None,
        Mag,
        Accel,
    };
 
    void _startCalibration(CalType calType);
    void _sideTick();
    void _magSideTick();
    void _accelSideTick();
    void _detectPose();
    int _doneCount() const;
 
    MockLink *_mockLink = nullptr;
 
    mutable QMutex _mutex;
    CalType _calType = CalType::None;
    int _requestedPose = -1;            
    int _activeSide = -1;               
    int _sideTickCount = 0;             
    int _finishTickCount = -1;          
    bool _sideDone[kSideCount] = {};
 
    static constexpr int kTicksPerSide = 5;     
    static constexpr int kTicksToFinish = 10;   
};