#ifndef NAVIGATION_FUSION_H
#define NAVIGATION_FUSION_H

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

#include "fusion_engine.h"
#include "fusion_measurement.h"
#include "fusion_motion.h"

typedef struct {
	uint64_t timestamp_ticks;
	double position_enu_m[3];
	double velocity_enu_mps[3];
	double latitude_deg;
	double longitude_deg;
	double height_m;
	double position_std_m[3];
	double speed_mps;
	double last_position_nis;
	fusion_motion_state_t motion_state;
	uint64_t gps_accepted;
	uint64_t gps_nis_rejected;
	bool valid;
} navigation_fusion_output_t;

bool navigation_fusion_init(uint64_t local_timebase_hz);
bool navigation_fusion_publish_gps(const fusion_gps_measurement_t* measurement);
unsigned int navigation_fusion_service(void);
bool navigation_fusion_get_output(navigation_fusion_output_t* output);
const fusion_engine_t* navigation_fusion_engine(void);

#endif