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#include "../PreFlightCheck.hpp"

#include <ArmAuthorization.h>
#include <systemlib/mavlink_log.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <HealthFlags.h>

bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
				 const safety_s &safety, const arm_requirements_t &arm_requirements, vehicle_status_s &status, bool report_fail)
{
	bool prearm_ok = true;

	// USB not connected
	if (!status_flags.circuit_breaker_engaged_usb_check && status_flags.usb_connected) {
		if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Flying with USB is not safe"); }

		prearm_ok = false;
	}

	// battery and system power status
	if (!status_flags.circuit_breaker_engaged_power_check) {

		// Fail transition if power is not good
		if (!status_flags.condition_power_input_valid) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Connect power module"); }

			prearm_ok = false;
		}

		// main battery level
		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_SENSORBATTERY, true, true,
				 status_flags.condition_battery_healthy, status);

		// Only arm if healthy
		if (!status_flags.condition_battery_healthy) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Check battery"); }
			}

			prearm_ok = false;
		}
	}

	// Arm Requirements: mission
	if (arm_requirements.mission) {

		if (!status_flags.condition_auto_mission_available) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! No valid mission"); }
			}

			prearm_ok = false;
		}

		if (!status_flags.condition_global_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Missions require a global position"); }
			}

			prearm_ok = false;
		}
	}

	if (arm_requirements.global_position && !status_flags.circuit_breaker_engaged_posfailure_check) {

		if (!status_flags.condition_global_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Global position required"); }
			}

			prearm_ok = false;
		}

		if (!status_flags.condition_home_position_valid) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Home position invalid"); }
			}

			prearm_ok = false;
		}
	}

	// safety button
	if (safety.safety_switch_available && !safety.safety_off) {
		// Fail transition if we need safety switch press
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Press safety switch first"); }
		}

		prearm_ok = false;
	}

	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready"); }
		}

		prearm_ok = false;

	}

	if (arm_requirements.esc_check && status_flags.condition_escs_error) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline"); }

			prearm_ok = false;
		}
	}

	if (arm_requirements.esc_check && status_flags.condition_escs_failure) {
		if (prearm_ok) {
			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs have a failure"); }

			prearm_ok = false;
		}
	}

	if (status.is_vtol) {

		if (status.in_transition_mode) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is in transition state"); }

				prearm_ok = false;
			}
		}

		if (!status_flags.circuit_breaker_vtol_fw_arming_check
		    && status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
			if (prearm_ok) {
				if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Vehicle is not in multicopter mode"); }

				prearm_ok = false;
			}
		}
	}

	if (arm_requirements.geofence && status.geofence_violated) {
		if (report_fail) {
			mavlink_log_critical(mavlink_log_pub, "Arming denied, vehicle outside geofence");
		}

		prearm_ok = false;
	}

	// Arm Requirements: authorization
	// check last, and only if everything else has passed
	if (arm_requirements.arm_authorization && prearm_ok) {
		if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
			// feedback provided in arm_auth_check
			prearm_ok = false;
		}
	}


	return prearm_ok;
}
