#ifndef AP_DCM_FW_h
#define AP_DCM_FW_h

#include <FastSerial.h>
#include <AP_Math.h>
#include <inttypes.h>
#include "WProgram.h"
#include <APM_Compass.h>
#include <APM_ADC.h>
#include <AP_GPS.h>
#include <AP_IMU.h>


class AP_DCM_FW
{
public:
	// Constructors
	AP_DCM_FW(GPS *GPS);										// Constructor - no magnetometer
	AP_DCM_FW(GPS *GPS, APM_Compass_Class *withCompass);		// Constructor for case with magnetometer
	
	// Accessors
	long	get_roll_sensor(void);				// Degrees * 100
	long	get_pitch_sensor(void);				// Degrees * 100
	long	get_yaw_sensor(void);				// Degrees * 100
	float	get_roll(void);						// Radians
	float	get_pitch(void);					// Radians
	float	get_yaw(void);						// Radians
	
	// Methods
	void	quick_init(void);
	void	init(void);
	void 	update_DCM(float _G_Dt);   

	float 		imu_health;						//Metric based on accel gain deweighting
	uint8_t 	gyro_sat_count;
	uint8_t 	adc_constraints;
	uint8_t 	renorm_sqrt_count;
	uint8_t 	renorm_blowup_count;

private:
	// Methods
	void 		read_adc_raw(void);
	void 		_accel_adjust(void);
	float 		_gyro_temp_comp(int i, int temp) const;
	float 		read_adc(int select);
	void 		matrix_update(float _G_Dt);
	void 		normalize(void);
	Vector3f 	_renorm(Vector3f const &a, int &problem);
	void 		drift_correction(void);
	void 		euler_angles(void);

	// members
	APM_Compass_Class *_compass;
	GPS 		*_gps;
	AP_IMU		_imu;

	long	roll_sensor;						// degrees * 100
	long	pitch_sensor;						// degrees * 100
	long	yaw_sensor;							// degrees * 100

	float 		roll;						// radians
	float 		pitch;						// radians
	float 		yaw;						// radians
	
	Matrix3f	_dcm_matrix;

	float 		_adc_in[6];					// array that store the 6 ADC channels used by IMU
	float 		_adc_offset[6]; 			// Array that store the Offset of the gyros and accelerometers
	Vector3f 	_accel_vector;				// Store the acceleration in a vector
	Vector3f 	_gyro_vector;				//Store the gyros turn rate in a vector
	Vector3f	_omega_P;					//Omega Proportional correction
	Vector3f 	_omega_I;					//Omega Integrator correction
	Vector3f 	_omega_integ_corr;			//Partially corrected Gyro_Vector data - used for centrepetal correction		
	Vector3f 	_omega;						//Corrected Gyro_Vector data
	Vector3f 	_error_roll_pitch;
	Vector3f 	_error_yaw;
	float 		_errorCourse;
	float 		_course_over_ground_x; 		//Course overground X axis
	float 		_course_over_ground_y; 		//Course overground Y axis

	// constants
	static const uint8_t	_sensors[6];
	static const int    	_sensor_signs[9];
	static const uint8_t	_gyro_temp_ch = 3; 						// The ADC channel reading the gyro temperature
	static const float 		_gyro_temp_curve[3][3];
};

#endif