#ifndef GPS_FUSION_PUBLISHER_H
#define GPS_FUSION_PUBLISHER_H

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

#include "gps/NavEquations.h"
#include "fusion/fusion_measurement.h"

/* Thin boundary adapter used by main.  GPS and the ESKF do not call each
 * other; main converts the completed WLS output to the shared measurement. */
bool gps_fusion_build_measurement(
	const gps_nav_solution_t* solution,
	uint64_t measurement_timestamp_ticks,
	fusion_gps_measurement_t* measurement_out);

#endif