34 lines
873 B
C
34 lines
873 B
C
#ifndef NAVIGATION_FUSION_H
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#define NAVIGATION_FUSION_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "fusion_engine.h"
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#include "fusion_measurement.h"
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#include "fusion_motion.h"
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typedef struct {
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uint64_t timestamp_ticks;
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double position_enu_m[3];
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double velocity_enu_mps[3];
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double latitude_deg;
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double longitude_deg;
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double height_m;
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double position_std_m[3];
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double speed_mps;
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double last_position_nis;
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fusion_motion_state_t motion_state;
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uint64_t gps_accepted;
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uint64_t gps_nis_rejected;
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bool valid;
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} navigation_fusion_output_t;
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bool navigation_fusion_init(uint64_t local_timebase_hz);
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bool navigation_fusion_publish_gps(const fusion_gps_measurement_t* measurement);
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unsigned int navigation_fusion_service(void);
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bool navigation_fusion_get_output(navigation_fusion_output_t* output);
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const fusion_engine_t* navigation_fusion_engine(void);
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#endif
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