#ifndef AP_AHRS_MPU6000_H
#define AP_AHRS_MPU6000_H
/*
  DCM based AHRS (Attitude Heading Reference System) interface for
  ArduPilot

  This library is free software; you can redistribute it and/or
  modify it under the terms of the GNU Lesser General Public
  License as published by the Free Software Foundation; either
  version 2.1 of the License, or (at your option) any later version.
*/

#define GYRO_BIAS_FROM_GRAVITY_RATE 4  // Rate of the gyro bias from gravity correction (200Hz/4) => 50Hz
#define HEADING_UNKNOWN -9999             // Initial value to detect that compass correction is not initialized

// max rate of gyro drift in gyro_LSB_units/s (16.4LSB = 1deg/s)
static const float _MPU6000_gyro_drift_rate = 0.5; // This correspond to 0.03 degrees/s/s;

class AP_AHRS_MPU6000 : public AP_AHRS
{
public:
	// Constructors
	AP_AHRS_MPU6000(AP_IMU_INS *imu, GPS *&gps, AP_InertialSensor_MPU6000 *mpu6000) : AP_AHRS(imu, gps), _mpu6000(mpu6000)
	{
		_dcm_matrix.identity();

		// these are experimentally derived from the simulator
		// with large drift levels
		_ki = 0.0087;
		_ki_yaw = 0.01;

		// dmp related variable initialisation
		_gyro_bias_from_gravity_gain = 0.008;
		_compass_bias_time = 0;
	}

	// initialisation routine to start MPU6000's dmp
	void init();

	// return the smoothed gyro vector corrected for drift
	Vector3f	get_gyro(void) {return _imu->get_gyro(); }
	Matrix3f	get_dcm_matrix(void) {return _dcm_matrix; }

	// return the current drift correction integrator value
	Vector3f	get_gyro_drift(void) {return _omega_I; }

	// Methods
	void 		update(void);
	void 		reset(bool recover_eulers = false);

	// push offsets down from IMU to INS (required so MPU6000 can perform it's own attitude estimation)
	void		push_offsets_to_ins();
	void		push_gains_to_dmp();

	// status reporting
	float		get_error_rp(void);
	float		get_error_yaw(void);

	// settable parameters
	AP_Float	_kp_yaw;
	AP_Float	_kp;
	AP_Float	gps_gain;	// not currently supported

	// for holding parameters
	static const struct AP_Param::GroupInfo var_info[];

private:
	float		_ki;
	float		_ki_yaw;
	AP_InertialSensor_MPU6000	*_mpu6000;

	// Methods
	void 		drift_correction(float deltat);

	// Compass correction variables. TO-DO: move or replace?
	float		wrap_PI(float angle_in_radians);	// TO-DO: move this to standard AP_AHRS methods
    long		_compass_bias_time;
	
	void 		drift_correction_yaw(void);
	float		yaw_error_compass();
	void 		euler_angles(void);

	Vector3f	_accel_filtered;
	int16_t 	_accel_filtered_samples;
	float		_gyro_bias[3];						// bias_tracking
	float		_gyro_bias_from_gravity_gain;		// bias correction algorithm gain
	uint8_t		_gyro_bias_from_gravity_counter;
	
	// primary representation of attitude
	Matrix3f	_dcm_matrix;

	Vector3f 	_accel_vector;		// current accel vector

	Vector3f 	_omega_I;			// Omega Integrator correction
	Vector3f	_omega_I_sum;
	float		_omega_I_sum_time;

	// state to support status reporting
	float		_error_yaw_sum;
	uint16_t	_error_yaw_count;
	float		_error_yaw_last;
};

#endif // AP_AHRS_MPU6000_H