#pragma once

#include <cmath>

#include <AP_HAL/AP_HAL.h>

#ifdef M_PI
# undef M_PI
#endif
#define M_PI      (3.141592653589793f)

#ifdef M_PI_2
# undef M_PI_2
#endif
#define M_PI_2    (M_PI / 2)

#define M_GOLDEN  1.6180339f

#define M_2PI         (M_PI * 2)

// MATH_CHECK_INDEXES modifies some objects (e.g. SoloGimbalEKF) to
// include more debug information.  It is also used by some functions
// to add extra code for debugging purposes. If you wish to activate
// this, do it here or as part of the top-level Makefile -
// e.g. Tools/Replay/Makefile
#ifndef MATH_CHECK_INDEXES
  #define MATH_CHECK_INDEXES 0
#endif

#define DEG_TO_RAD      (M_PI / 180.0f)
#define RAD_TO_DEG      (180.0f / M_PI)

// Centi-degrees to radians
#define DEGX100 5729.57795f

// GPS Specific double precision conversions
// The precision here does matter when using the wsg* functions for converting
// between LLH and ECEF coordinates.
static const double DEG_TO_RAD_DOUBLE = asin(1) / 90;
static const double RAD_TO_DEG_DOUBLE = 1 / DEG_TO_RAD_DOUBLE;

#define RadiansToCentiDegrees(x) (static_cast<float>(x) * RAD_TO_DEG * static_cast<float>(100))

// acceleration due to gravity in m/s/s
#define GRAVITY_MSS     9.80665f

// radius of earth in meters
#define RADIUS_OF_EARTH 6378100

// convert a longitude or latitude point to meters or centimeters.
// Note: this does not include the longitude scaling which is dependent upon location
#define LATLON_TO_M     0.01113195f
#define LATLON_TO_CM    1.113195f

// Semi-major axis of the Earth, in meters.
static const double WGS84_A = 6378137.0;

//Inverse flattening of the Earth
static const double WGS84_IF = 298.257223563;

// The flattening of the Earth
static const double WGS84_F = ((double)1.0 / WGS84_IF);

// Semi-minor axis of the Earth in meters
static const double WGS84_B = (WGS84_A * (1 - WGS84_F));

// Eccentricity of the Earth
static const double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));

/*
  use AP_ prefix to prevent conflict with OS headers, such as NuttX
  clock.h
 */
#define AP_NSEC_PER_SEC   1000000000ULL
#define AP_NSEC_PER_USEC  1000ULL
#define AP_USEC_PER_SEC   1000000ULL
#define AP_USEC_PER_MSEC  1000ULL
#define AP_MSEC_PER_SEC   1000ULL
#define AP_SEC_PER_WEEK   (7ULL * 86400ULL)
#define AP_MSEC_PER_WEEK  (AP_SEC_PER_WEEK * AP_MSEC_PER_SEC)