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#include <chrono>
#include <cmath>

#include "autopilot_tester.h"

// Reproduces the stale home-yaw bug: when home is first set from a raw-GPS fix while the local position
// estimate is invalid, home.yaw must still end up at the true ground heading.
TEST_CASE("SIH: home yaw captured when local position invalid", "[sih_home_yaw]")
{
	using namespace std::chrono_literals;

	AutopilotTester tester;
	tester.connect(connection_url);

	// No GPS fix yet: wait for the magnetometer heading to align and settle, so that no later heading
	// reset can refresh home.yaw and mask the bug.
	tester.sleep_for(10s);
	const float ground_yaw_deg = tester.get_attitude_euler().yaw_deg;

	// Degraded GPS: good enough for the home position, too few sats for EKF fusion -> local position
	// stays invalid. This is the exact condition under which the buggy code leaves home.yaw at 0.
	tester.set_param_int("SIM_GPS_USED", 5);
	tester.sleep_for(6s);

	const mavlink_home_position_t home = tester.get_home_position();
	// Copy out of the packed message struct before forming a float* for the conversion helper.
	const float q[4] = {home.q[0], home.q[1], home.q[2], home.q[3]};
	float roll_rad, pitch_rad, home_yaw_rad;
	mavlink_quaternion_to_euler(q, &roll_rad, &pitch_rad, &home_yaw_rad);
	const float home_yaw_deg = home_yaw_rad * 180.f / static_cast<float>(M_PI);

	float diff_deg = std::fabs(ground_yaw_deg - home_yaw_deg);

	if (diff_deg > 180.f) {
		diff_deg = 360.f - diff_deg;
	}

	CAPTURE(ground_yaw_deg);
	CAPTURE(home_yaw_deg);
	// With the fix home.yaw tracks the true ground heading; with the bug it stays at 0 (North).
	CHECK(diff_deg < 20.f);
}