#ifndef FUSION_GPS_ADAPTER_H
#define FUSION_GPS_ADAPTER_H

#include <stdbool.h>

#include "fusion/fusion_measurement.h"

typedef struct {
	double minimum_horizontal_std_m;
	double minimum_vertical_std_m;
	double maximum_position_std_m;
	double minimum_horizontal_velocity_std_mps;
	double minimum_vertical_velocity_std_mps;
	double maximum_velocity_std_mps;
} fusion_gps_adapter_config_t;

typedef struct {
	double origin_latitude_deg;
	double origin_longitude_deg;
	double origin_height_m;
	double origin_ecef_m[3];
	double ecef_to_enu[3][3];
	fusion_gps_adapter_config_t config;
	bool origin_valid;
} fusion_gps_adapter_t;

void fusion_gps_adapter_default_config(fusion_gps_adapter_config_t* config);
bool fusion_gps_adapter_init(fusion_gps_adapter_t* adapter,
	                         const fusion_gps_adapter_config_t* config);
bool fusion_gps_adapter_convert(fusion_gps_adapter_t* adapter,
	                            const fusion_gps_measurement_t* gps,
	                            fusion_position_measurement_t* position_out);
bool fusion_gps_adapter_convert_navigation(
	fusion_gps_adapter_t* adapter,
	const fusion_gps_measurement_t* gps,
	fusion_navigation_measurement_t* navigation_out);
bool fusion_gps_adapter_local_to_geodetic(
	const fusion_gps_adapter_t* adapter,
	const double position_enu_m[3],
	double* latitude_deg_out,
	double* longitude_deg_out,
	double* height_m_out);

#endif