/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#pragma once

#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include "AC_PrecLand_Backend.h"

/*
 * AC_PrecLand_Companion - implements precision landing using target vectors provided
 *                         by a companion computer (i.e. Odroid) communicating via MAVLink
 */

class AC_PrecLand_Companion : public AC_PrecLand_Backend
{
public:

    // Constructor
    AC_PrecLand_Companion(const AC_PrecLand& frontend, AC_PrecLand::precland_state& state);

    // init - perform any required initialisation of backend controller
    void init();

    // update - give chance to driver to get updates from sensor
    //  returns true if new data available
    bool update();
    // what frame of reference is our sensor reporting in?
    MAV_FRAME get_frame_of_reference();

    // get_angle_to_target - returns angles (in radians) to target
    //  returns true if angles are available, false if not (i.e. no target)
    //  x_angle_rad : roll direction, positive = target is to right (looking down)
    //  y_angle_rad : pitch direction, postiive = target is forward (looking down)
    bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad);

    // handle_msg - parses a mavlink message from the companion computer
    void handle_msg(mavlink_message_t* msg);

private:

    // output from camera
    MAV_FRAME           _frame;                 // what frame of reference is our sensor reporting in?
    Vector2f            _angle_to_target;       // last angle to target
    float               _distance_to_target;    // distance from the camera to target in meters
    uint64_t            _timestamp_us;          // timestamp when the image was captured(synced via UAVCAN)
    bool                _new_estimate;          // true if new data from the camera has been received
};