/home/travis/build/lis-epfl/MAVRIC_Library/drivers/gps_ublox.hpp

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/*******************************************************************************
 * \file gps_ublox.hpp
 *
 * \author MAV'RIC Team
 * \author Nicolas Dousse
 *
 * \brief Driver for UBLOX GPS
 *
 * \detail  Only one instance can be used
 *          TODO: remove global variables in gps_ublox.cpp
 *
 ******************************************************************************/


#ifndef GPS_UBLOX_HPP_
#define GPS_UBLOX_HPP_

#include "drivers/gps.hpp"

#include "hal/common/serial.hpp"


class Gps_ublox: public Gps
{
public:
    Gps_ublox(Serial& serial);


    bool init(void);


    bool update(void);


    float last_update_us(void) const;


    float last_position_update_us(void) const;


    float last_velocity_update_us(void) const;


    global_position_t position_gf(void) const;


    float horizontal_position_accuracy(void) const;


    float vertical_position_accuracy(void) const;


    std::array<float, 3> velocity_lf(void) const;


    float velocity_accuracy(void) const;


    float heading(void) const;


    float heading_accuracy(void) const;


    uint8_t num_sats(void) const;


    gps_fix_t fix(void) const;


    bool healthy(void) const;


    void configure(void);


private:
    Serial&             serial_;                            

    float               last_update_us_;                    
    float               last_position_update_us_;           
    float               last_velocity_update_us_;           
    global_position_t   position_gf_;                       
    float               horizontal_position_accuracy_;      
    float               vertical_position_accuracy_;        
    std::array<float, 3> velocity_lf_;                      
    float               velocity_accuracy_;                 
    float               heading_;                           
    float               heading_accuracy_;                  
    uint8_t             num_sats_;                          
    gps_fix_t           fix_;                               
    bool                healthy_;                           
};



#endif /* GPS_UBLOX_HPP_ */