#include "Barometer.h"
#include "GyverBME280.h"
#include "Wire.h"
#include "board_pins.h"
#include "I2Cdev.h"
#include "Kalman2DFilter.h"
#include "MPU6050_6Axis_MotionApps20.h"
#include "BatteryController.h"
#include "MPU.h"

TwoWire i2c = TwoWire(0);
Barometer barometer(new GyverBME280(i2c));
MPU mpu(new MPU6050(MPU6050_DEFAULT_ADDRESS, &i2c));
Kalman2DFilter kalman2d(10.f, 1.f, 1.8f);
BatteryController battery;

void setup() {
  Serial.begin(115200);
  i2c.begin(I2C_SDA_PIN, I2C_SCL_PIN, 400000);
  Serial.println(barometer.initialize());
  Serial.println(mpu.initialize());
  barometer.measureBaseAltitudeSync();
  battery.initialize();
  Serial.println("System initialized");
}

void loop() {
  /*Serial.print("ax:");
  Serial.print(ax);
  Serial.print(",");
  Serial.print("ay:");
  Serial.print(ay);
  Serial.print(",");
  Serial.print("az:");
  Serial.print(az);
  Serial.print(",");*/
  bool err;
  barometer.tick();
  if(mpu.tick(err) && !err) {
    float kalmanAltitude, ZVelocityAltitude;
    float barometerAltitude = barometer.rawFlightHeight();
    kalman2d.filter(mpu.accZInertial(), barometerAltitude, kalmanAltitude, ZVelocityAltitude);
    //Serial.print("Yaw:");
    //Serial.print(mpu.yaw());
    //Serial.print(",");
    //Serial.print("Roll:");
    //Serial.print(mpu.roll());
    //Serial.print(",");
    //Serial.print("Pitch:");
    //Serial.print(mpu.pitch());
    //Serial.print(",");
    //Serial.print("Flight height:");
    Serial.print(barometerAltitude);
    Serial.print(",");
    //Serial.print("Kalman altitude:");
    Serial.print(kalmanAltitude);
    Serial.print(",");
    /*Serial.print(G);
    Serial.print(",");
    Serial.print(Pc);
    Serial.print(",");
    Serial.print(P);
    Serial.print(",");
    Serial.print(Xp);
    Serial.print(",");*/
    //Serial.print("Kalman2 altitude: ");
    Serial.println(ZVelocityAltitude);
    /*Serial.print("Vertical velocity:");
    Serial.print(ZVelocityAltitude);
    Serial.print(",");
    Serial.print("Battery percent: ");
    Serial.println(battery.percent());*/
  }
  
  //Serial.print(",");
  /*
    //Serial.print("AccZInertial:");
    Serial.print(AccZInertial);
    Serial.print(",");
    //Serial.print("Altitude:");
    Serial.print(AltitudeBarometer);
    Serial.print(",");
    //Serial.print("kAltitude:");
    Serial.print(AltitudeKalman);
    Serial.print(",");
    //Serial.print("Battery voltage: ");
    //Serial.print(battery.measureVoltage());
    //Serial.print(",");
    //Serial.print("kZvelocity:");
    Serial.println(VelocityVerticalKalman);
  }*/
}