#ifndef GPS_SYSTEM_APP_H
#define GPS_SYSTEM_APP_H

#include <stdbool.h>
#include <stdint.h>

#include "fusion/fusion_measurement.h"
#include "fusion/navigation_fusion.h"
#include "gps/NavEquations.h"
#include "imu/imu_sample.h"

/* Application-owned messages and lifecycle state at the GPS/IMU/fusion
 * boundary.  Solver, driver and ESKF private state remain in their modules. */
typedef struct {
	gps_nav_solution_t gps_solution;
	fusion_gps_measurement_t gps_for_fusion;
	imu_sample_t imu_sample;
	navigation_fusion_output_t fused_solution;
	uint64_t gps_measurement_ticks;
	uint64_t last_fused_location_tick;
	uint64_t last_status_tick;
	uint32_t fused_publish_sample_count;
	bool gps_epoch_ready;
	bool fusion_enabled;
	bool imu_initialized;
	bool fusion_initialized;
	bool imu_running;
} gps_system_state_t;

#endif