/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{
 * @addtogroup StateSetimation Module
 * @{
 *
 * @file       stateestimation.h
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
 * @brief      Acquires sensor data and fuses it into attitude estimate for CC
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */
#ifndef STATEESTIMATION_H
#define STATEESTIMATION_H

#include <openpilot.h>


// Enumeration for filter result
typedef enum {
    FILTERRESULT_UNINITIALISED = -1,
    FILTERRESULT_OK       = 0,
    FILTERRESULT_WARNING  = 1,
    FILTERRESULT_CRITICAL = 2,
    FILTERRESULT_ERROR    = 3,
} filterResult;


typedef enum {
    SENSORUPDATES_gyro         = 1 << 0,
        SENSORUPDATES_accel    = 1 << 1,
        SENSORUPDATES_mag      = 1 << 2,
        SENSORUPDATES_boardMag = 1 << 10,
        SENSORUPDATES_auxMag   = 1 << 9,
        SENSORUPDATES_attitude = 1 << 3,
        SENSORUPDATES_pos      = 1 << 4,
        SENSORUPDATES_vel      = 1 << 5,
        SENSORUPDATES_airspeed = 1 << 6,
        SENSORUPDATES_baro     = 1 << 7,
        SENSORUPDATES_lla      = 1 << 8,
} sensorUpdates;

#define MAGSTATUS_OK      1
#define MAGSTATUS_AUX     2
#define MAGSTATUS_INVALID 0
typedef struct {
    float   gyro[3];
    float   accel[3];
    float   mag[3];
    float   attitude[4];
    float   pos[3];
    float   vel[3];
    float   airspeed[2];
    float   baro[1];
    float   auxMag[3];
    float   boardMag[3];
    float   debugNavYaw;
    uint8_t magStatus;
    bool    armed;
    sensorUpdates updated;
} stateEstimation;

typedef struct stateFilterStruct {
    int32_t (*init)(struct stateFilterStruct *self);
    filterResult (*filter)(struct stateFilterStruct *self, stateEstimation *state);
    void *localdata;
} stateFilter;


int32_t filterMagInitialize(stateFilter *handle);
int32_t filterBaroiInitialize(stateFilter *handle);
int32_t filterBaroInitialize(stateFilter *handle);
int32_t filterVelocityInitialize(stateFilter *handle);
int32_t filterAltitudeInitialize(stateFilter *handle);
int32_t filterAirInitialize(stateFilter *handle);
int32_t filterStationaryInitialize(stateFilter *handle);
int32_t filterLLAInitialize(stateFilter *handle);
int32_t filterCFInitialize(stateFilter *handle);
int32_t filterCFMInitialize(stateFilter *handle);
int32_t filterEKF13iInitialize(stateFilter *handle);
int32_t filterEKF13Initialize(stateFilter *handle);
int32_t filterEKF13NavOnlyInitialize(stateFilter *handle);
int32_t filterEKF13iNavOnlyInitialize(stateFilter *handle);
int32_t filterEKF16iInitialize(stateFilter *handle);
int32_t filterEKF16Initialize(stateFilter *handle);

#endif // STATEESTIMATION_H