position_estimation_telemetry.h

/*******************************************************************************
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/*******************************************************************************
 * \file position_estimation_telemetry.h
 * 
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 *   
 * \brief This module takes care of sending periodic telemetric messages for
 * the position estimation
 *
 ******************************************************************************/


#ifndef POSIION_ESTIMATION_TELEMETRY_H_
#define POSIION_ESTIMATION_TELEMETRY_H_

#include "mavlink_stream.h"
#include "mavlink_message_handler.h"
#include "position_estimation.h"

#ifdef __cplusplus
extern "C" {
#endif


bool position_estimation_telemetry_init(position_estimation_t* pos_est, mavlink_message_handler_t* mavlink_handler);

void position_estimation_telemetry_send_position(const position_estimation_t* pos_est, const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg);


void position_estimation_telemetry_send_global_position(const position_estimation_t* pos_est, const mavlink_stream_t* mavlink_stream, mavlink_message_t* msg);


#ifdef __cplusplus
}
#endif

#endif /* POSIION_ESTIMATION_TELEMETRY_H_ */