#ifndef NAVIGATION_H_
#define NAVIGATION_H_

#include <fsfw/coordinates/Sgp4Propagator.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>

class Navigation {
 public:
  Navigation();
  virtual ~Navigation();

  ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
                        acsctrl::GyrDataProcessed *gyrDataProcessed,
                        acsctrl::MgmDataProcessed *mgmDataProcessed,
                        acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
                        AcsParameters *acsParameters);
  void resetMekf(acsctrl::MekfData *mekfData);

  void useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
  ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2);

 protected:
 private:
  MultiplicativeKalmanFilter multiplicativeKalmanFilter;
  ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
  Sgp4Propagator sgp4Propagator;
};

#endif /* ACS_NAVIGATION_H_ */