/*
 * 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_ */