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#ifndef SCALED_PRESSURE2_HPP
#define SCALED_PRESSURE2_HPP

#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/sensor_baro.h>

class MavlinkStreamScaledPressure2 : public MavlinkStream
{
public:
	static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamScaledPressure2(mavlink); }

	static constexpr const char *get_name_static() { return "SCALED_PRESSURE2"; }
	static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SCALED_PRESSURE2; }

	const char *get_name() const override { return get_name_static(); }
	uint16_t get_id() override { return get_id_static(); }

	unsigned get_size() override
	{
		if (_sensor_baro_sub.advertised() || _differential_pressure_sub.advertised()) {
			return MAVLINK_MSG_ID_SCALED_PRESSURE2_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
		}

		return 0;
	}

private:
	explicit MavlinkStreamScaledPressure2(Mavlink *mavlink) : MavlinkStream(mavlink) {}

	uORB::Subscription _differential_pressure_sub{ORB_ID(differential_pressure), 1};
	uORB::Subscription _sensor_baro_sub{ORB_ID(sensor_baro), 1};

	bool send() override
	{
		if (_sensor_baro_sub.updated() || _differential_pressure_sub.updated()) {
			mavlink_scaled_pressure2_t msg{};

			sensor_baro_s sensor_baro;

			if (_sensor_baro_sub.copy(&sensor_baro)) {
				msg.time_boot_ms = sensor_baro.timestamp / 1000;
				msg.press_abs = sensor_baro.pressure; // millibar to hPa
				msg.temperature = roundf(sensor_baro.temperature * 100.f); // centidegrees
			}

			differential_pressure_s differential_pressure;

			if (_differential_pressure_sub.copy(&differential_pressure)) {
				if (msg.time_boot_ms == 0) {
					msg.time_boot_ms = differential_pressure.timestamp / 1000;
				}

				msg.press_diff = differential_pressure.differential_pressure_raw_pa * 100.f; // Pa to hPa
				msg.temperature_press_diff = roundf(differential_pressure.temperature * 100.f); // centidegrees
			}

			mavlink_msg_scaled_pressure2_send_struct(_mavlink->get_channel(), &msg);

			return true;
		}

		return false;
	}
};

#endif // SCALED_PRESSURE2_HPP
