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

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/*******************************************************************************
 * \file ins.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Inertial Navigation System (estimates position and velocity)
 *
 ******************************************************************************/


#ifndef INS_HPP_
#define INS_HPP_

#include <array>
#include "communication/mavlink_stream.hpp"
#include "hal/common/time_keeper.hpp"
#include "util/coord_conventions.hpp"
#include "util/constants.hpp"

class INS
{
public:
    INS(global_position_t origin = ORIGIN_EPFL);

    virtual bool update(void) = 0;


    virtual float last_update_s(void) const = 0;


    virtual local_position_t position_lf(void) const = 0;


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


    virtual float absolute_altitude(void) const = 0;


    enum healthy_t
    {
        XY_VELOCITY,
        Z_VELOCITY,
        XYZ_VELOCITY,
        XY_REL_POSITION,
        Z_REL_POSITION,
        XYZ_REL_POSITION,
        XY_ABS_POSITION,
        Z_ABS_POSITION,
        XYZ_ABS_POSITION
    };


    virtual bool is_healthy(INS::healthy_t type) const = 0;


    static inline const global_position_t& origin(void) {return origin_;};


    virtual global_position_t position_gf(void) const
    {
        global_position_t position_gf;
        coord_conventions_local_to_global_position(position_lf(), origin(), position_gf);
        return position_gf;
    };

protected:

    static bool set_origin(global_position_t origin);

private:
    static global_position_t origin_;

    /* declare callback for setting the origin as friend to give access to set_origin */
    friend void ins_telemetry_set_gps_global_origin_callback(INS* ins, uint32_t sysid, const mavlink_message_t* msg);
};

#endif /* INS_HPP_ */