/*
 * Navigation.h
 *
 *  Created on: 19 Apr 2022
 *      Author: Robin Marquardt
 */

#ifndef NAVIGATION_H_
#define NAVIGATION_H_


#include "AcsParameters.h"
#include "SensorProcessing.h"
#include "MultiplicativeKalmanFilter.h"
#include "SensorValues.h"
#include "OutputValues.h"

class Navigation{
public:
	Navigation(AcsParameters *acsParameters_); //Input mode ?
	virtual ~Navigation();

	void useMekf(ACS::SensorValues* sensorValues, ACS::OutputValues *outputValues, ReturnValue_t *mekfValid);
	void processSensorData();

protected:

private:
	MultiplicativeKalmanFilter multiplicativeKalmanFilter;
	AcsParameters acsParameters;
	bool kalmanInit = false;
};

#endif /* ACS_NAVIGATION_H_ */