/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once

#include <AP_AHRS/AP_AHRS.h>
#include <AP_Math/AP_Math.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF/AP_NavEKF.h>

#include "OpticalFlow.h"

class AP_OpticalFlow_Onboard : public OpticalFlow_backend
{
public:
    AP_OpticalFlow_Onboard(OpticalFlow &_frontend, AP_AHRS_NavEKF &ahrs);
    void init(void);
    void update(void);
private:
    AP_AHRS &_ahrs;
    void _get_gyro(float&, float&, float&);
    uint32_t _last_read_ms;
};