#ifndef FUSION_MEASUREMENT_H
#define FUSION_MEASUREMENT_H

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

#include "imu/imu_sample.h"

/*
 * Hardware- and solver-neutral messages shared at the GPS/ESKF boundary.
 * timestamp_ticks always belongs to the common local monotonic timebase; GPS
 * week/TOW is metadata and must not drive filter dt.
 */
typedef struct {
	uint64_t timestamp_ticks;
	double latitude_deg;
	double longitude_deg;
	double height_m;
	double covariance_enu_m2[3][3];
	double hacc_m;
	double vacc_m;
	double residual_rms_m;
	double chi_square_ratio;
	double velocity_ecef_mps[3];
	double velocity_covariance_ecef_mps2[3][3];
	double speed_mps;
	double velocity_residual_rms_mps;
	unsigned int used_satellites;
	bool solution_valid;
	bool velocity_valid;
} fusion_gps_measurement_t;

/* Timestamped IMU plus the independently supervised platform state consumed
 * by fusion. Drivers publish imu_sample_t and do not decide `vehicle_at_rest`. */
typedef struct {
	uint64_t timestamp_ticks;
	double accel_mps2[3];
	double gyro_rps[3];
	double temperature_c;
	uint32_t sequence;
	bool vehicle_at_rest;
} fusion_imu_measurement_t;

/* Generic local-navigation measurement consumed by the ESKF coordinator. */
typedef struct {
	uint64_t timestamp_ticks;
	double position_enu_m[3];
	double covariance_enu_m2[9];
	double source_quality;
	bool source_valid;
} fusion_position_measurement_t;

/*
 * Position and Doppler velocity from one GNSS solve. Keeping them in one
 * message makes the fixed-lag coordinator apply both observations at exactly
 * the captured GPS epoch before replaying newer IMU samples.
 */
typedef struct {
	fusion_position_measurement_t position;
	double velocity_enu_mps[3];
	double velocity_covariance_enu_mps2[9];
	bool velocity_valid;
} fusion_navigation_measurement_t;

#endif