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/**
 * Feeds Ekf with Gps data
 * @author Kamil Ritz <ka.ritz@hotmail.com>
 */
#pragma once

#include "sensor.h"

namespace sensor_simulator
{
namespace sensor
{

class Gps: public Sensor
{
public:
	Gps(std::shared_ptr<Ekf> ekf);
	~Gps();

	void setData(const gps_message& gps);
	void stepHeightByMeters(float hgt_change);
	void stepHorizontalPositionByMeters(Vector2f hpos_change);
	void setAltitude(int32_t alt);
	void setLatitude(int32_t lat);
	void setLongitude(int32_t lon);
	void setVelocity(const Vector3f& vel);

	gps_message getDefaultGpsData();

private:
	gps_message _gps_data;

	void send(uint64_t time) override;

};

} // namespace sensor
} // namespace sensor_simulator