#ifndef MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_
#define MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_

#include <fsfw/globalfunctions/math/VectorOperations.h>
#include <mission/controller/acs/AcsParameters.h>

class FusedRotationEstimation {
 public:
  FusedRotationEstimation(AcsParameters *acsParameters_);

  void estimateFusedRotationRateSafe(bool sunValid, double sunB[3], double sunRateB[3],
                                     bool magValid, double magB[3], double magRateB[3],
                                     bool rotRateValid, double rotRateB[3], double fusedRateB[3],
                                     double fusedRateParallelB[3], double fusedRateOrthogonalB[3]);
  void estimateFusedRotationRateEclipse(bool rotRateValid, double rotRateB[3], double fusedRateB[3],
                                        double fusedRateParallelB[3],
                                        double fusedRateOrthogonalB[3]);

 protected:
 private:
  AcsParameters *acsParameters;
  double rotRateOldB[3] = {0, 0, 0};
  double fusedRateOldB[3] = {0, 0, 0};
};

#endif /* MISSION_CONTROLLER_ACS_FUSEDROTATIONESTIMATION_H_ */