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#ifndef __GPS_H

#define __GPS_H

#define SIMULATION_ACTIVE               0x01

#define SIMULATION_MOTOR_ON     0x02

#define SIMULATION_MOTOR_START  0x80

#include "ubx.h"

#include "waypoints.h"

typedef struct

{

        s16 Nick;

        s16 Roll;

//      s16 Yaw;

}  __attribute__((packed)) GPS_Stick_t;

extern GPS_Stick_t      GPS_Stick;

#define CAM_UPDATE_AZIMUTH              0x01

#define CAM_UPDATE_ELEVATION    0x02

#define FORCE_AZIMUTH_ROTATION  0x04

typedef struct

{

        s16 Azimuth;            // angle in 1 deg measured clockwise from north

        s16 Elevation;          // angle in 0.1 deg measured upwards from horizont

        u8 UpdateMask;

} __attribute__((packed)) CAM_Orientation_t;

typedef struct

{

        s32 x;

        s32 y;

} __attribute__((packed)) Vec2D_t;

extern CAM_Orientation_t CAM_Orientation;

extern Point_t* GPS_pWaypoint;

extern u8 MaxNumberOfWaypoints;    // should be 32

extern u16 AbsoluteFlyingRange_m;    // Maximum distance that the MK is not allowed to exceed - keep zero if not used

extern s16 AbsoluteFlyingAltitude; // Maximum altitude that the MK is not allowed to exceed - keep zero if not used

extern u16 AutoDescendRange_m;

extern GPS_Pos_t SimulationPosition; // the current GPS position in simulated mode

extern GPS_Pos_t GPS_FailsafePosition;         

extern u8 SimulationFlags;

extern u8 MK_FlyingWithGps;

extern u8 CurrentlyFlyingWaypoints;

extern void ConfirmGpsUpdateRate(u16);

extern int PointPolyCheck( Vec2D_t P, Vec2D_t* V, int n );

extern u8 UpdateFlyzoneTimer;

extern u16 WP_Yaw_WithoutCF;

extern u8 GPSPos_Copy_to_Home(GPS_Pos_t* pGPSPosSrc);

void GPS_Init(void);

void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick);

void CalcHeadFree(void);

unsigned char UBX_Setup(void);

#define EVENTFLAG_1_WP_CHANNEL    1

#define EVENTFLAG_2_WP_CHANNEL    2

#endif //__GPS_H