#ifndef NAVEQUATIONS_H 
	#define NAVEQUATIONS_H

		#include "gps.h"
		#include "gps_ip_defines.h"
		#include "matrixLib.h"
		
		typedef struct {
			double ecef_m[3];
			double clock_bias_m;
			double latitude_deg;
			double longitude_deg;
			double height_m;
			double covariance_enu_m2[3][3];
			double hacc_m;
			double vacc_m;
			double gdop;
			double pdop;
			double hdop;
			double vdop;
			double tdop;
			double residual_rms_m;
			double max_abs_residual_m;
			double postfit_residual_m[GPS_TRCK_IP_COUNT];
			double elevation_deg[GPS_TRCK_IP_COUNT];
			double measurement_sigma_m[GPS_TRCK_IP_COUNT];
			double full_postfit_residual_m[GPS_TRCK_IP_COUNT];
			double full_elevation_deg[GPS_TRCK_IP_COUNT];
			double full_measurement_sigma_m[GPS_TRCK_IP_COUNT];
			double weighted_residual_rms_m;
			double weighted_residual_sum;
			double chi_square_threshold;
			double chi_square_ratio;
			double full_chi_square_ratio;
			double postfit_position_correction_m;
			double postfit_clock_correction_m;
			double full_postfit_position_correction_m;
			double full_postfit_clock_correction_m;
			double quality_score;
			unsigned int available_satellite_count;
			unsigned int used_satellite_count;
			unsigned int degrees_of_freedom;
			uint32_t used_row_mask;
			uint32_t excluded_row_mask;
			uint64_t candidate_cycles;
			uint64_t full_solution_cycles;
			uint64_t fde_cycles;
			uint64_t total_wls_cycles;
			unsigned int iteration_count;
			unsigned int fde_trial_count;
			bool candidate_valid;
			bool residual_test_valid;
			bool chi_square_pass;
			bool fde_applied;
			bool solution_valid;
		} gps_nav_solution_t;

		    void satpos(gps_ephemeris_t* eph, double* pos, double* vel, double* clk, double* clockCorr);
		    void computeRange(double* psTVLTime, unsigned char sat_no, range_t* rho, gps_ephemeris_t* eph, ionoutc_t* ionoutc, double* xyz, t_temp_pos* tempPos, double* clockCorr, mat_type *satellitePositions, mat_type * velocities);
		    double check_t(long double tkl);
		    void subVect(double* y, const double* x1, const double* x2);
		    double normVect(const double* x);
		    void minimum_element(double* minimum, const double * vec, const int ActiveSatellitesNumber); 
			bool leastSquaresSTD(mat_type* satpos, mat_type* obs, int ActiveSatellitesNumber,
			                     mat_type * az, mat_type * el,
			                     const unsigned char* ura_indices,
			                     const ionoutc_t* ionoutc, double gps_tow,
			                     gps_nav_solution_t* solution_out);
		    void rotateSatelliteSTD(double const traveltime, const mat_type* X_sat, mat_type* X_sat_rot);
		    void topocent(const double* XPtr, const double* dxPtr, int size, t_phi_Lambda_h * phi_Lambda_h, t_topocentData* topcent);
		    void togeod(double a, double finv, double X, double Y, double Z, t_phi_Lambda_h * phi_Lambda_h, t_topocentData* topcent);
		    double tropo(double sinel, double hsta);
		    double SquareRoot(double number);
		    void cart2geo(double X, double Y, double Z, int i, t_phi_Lambda_h * phi_Lambda_h);
		    int findUtmZone(double latitude, double longitude);
		
			//typedef struct{
			//	mat_type* absoluteSamples;
			//	mat_type* txTimeVec;
			//	mat_type* pseudoRanges;		
			//	mat_type* az;
			//	mat_type* el;
			//}matc_variable_t; // matc class variable encapsulation
			// ***HEADER VARIABLES*** ( class variables that MAPPED TO THE HEADER GLOBAL VARIABLES )
			//extern matc_variable_t* m_matc_variable;
			//t_topocentData topcent;
		        //extern unsigned int nmbOfIterations;
			//extern char subframeID; //TODO where is this variable get initialized ? 
			//extern unsigned int number_of_satellites; //TODO it will be replaced with subframeID; (represents same thing. # of captured satellites)
			//extern mat_type* pos; // position vector.
			//extern mat_type* posEq; // ?
			//extern t_phi_Lambda_h phi_lambda_h;
		
			
		
		
		
		        //double* mat(int n, int m);
			////double absoluteSamples[6] = {66564551, 66525117,66589459,66666672,66633917,66700000};
			//double travelTime[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
			//double pseudoRanges[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
			//double az[8] = {0,0,0,0,0,0,0,0};
			//double el[8] = {0,0,0,0,0,0,0,0};
			//double pos[12] = {0,0,0,0,0,0,0,0,0,0,0,0};
			//double CorrectedPos[6] = {0,0,0,0,0,0};
			//double Positions[MAX_SAT][POSITION_VECTOR_COL];
		
			//double subGpsTime(gpstime_t g1, gpstime_t g0);
			//gpstime_t incGpsTime(gpstime_t g0, double dt);
			//void ecef2neu(const double* xyz, double t[3][3], double* neu);
			//void ltcmat(const double* llh, double t[3][3]);
			//void neu2azel(double* azel, const double* neu);
			//void gps2date(const gpstime_t* g, datetime_t* t);
			//void llh2xyz(const double* llh, double* xyz);
			
			
			//double dotProd(const double* x1, const double* x2);
			
			//void xyz2llh(const double* xyz, double* llh);
			//double ionosphericDelay(const ionoutc_t* ionoutc, gpstime_t g, double* llh, double* azel);
			
			//int findUtmZone(double latitude, double longitude);
			//void CART2UTM(double X, double Y, double Z, int zone);
		

 
#endif