/home/travis/build/lis-epfl/MAVRIC_Library/sensing/ahrs.hpp

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/*******************************************************************************
 * \file ahrs.hpp
 *
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 * \author Julien Lecoeur
 *
 * \brief  Interface for the estimated Attitude and Heading Reference System
 *
 ******************************************************************************/


#ifndef AHRS_HPP_
#define AHRS_HPP_

#include <cstdint>
#include <cstdbool>
#include <array>

#include "util/coord_conventions.hpp"   /* coord_conventions_get_yaw */

extern "C"
{
#include "util/quaternions.h"
}

class AHRS
{
public:

    enum ahrs_state_t
    {
        AHRS_INITIALISING   = 0,    
        AHRS_LEVELING       = 1,    
        AHRS_CONVERGING     = 2,    
        AHRS_READY          = 3,    
    };

    virtual bool update(void) = 0;

    
    virtual float last_update_s(void) const = 0;


    virtual bool is_healthy(void) const = 0;


    virtual quat_t attitude(void) const = 0;


    virtual std::array<float,3> angular_speed(void) const = 0;


    virtual std::array<float,3> linear_acceleration(void) const = 0;


    virtual float yaw() const
    {
        return coord_conventions_get_yaw(attitude());
    }

};

#endif /* AHRS_HPP_ */