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#ifndef _PROCESSING_H

 #define _PROCESSING_H

#define INITIATE                                        3

#define GET_CONFIGURATION                       1

#define GET_FLIGHTCONTROL_VALUES        2

#define GET_3D_DATA                                     5       

#define SWITCH_FLIGHTCONTROL            4

#define GET_ANALOG_DATA                         6

extern void processing_init();

extern void analyze_data_package(serial_data_struct* pdata_package);

extern void get_distance();

extern void request_to_kopter(u8 request);

extern void process_flow_data(serial_data_struct* pdata_package_flow_process);

extern void process_gps_data(serial_data_struct* pdata_package_gps_process);

volatile int Distance;

struct str_optical_flow

{

        u64 time_usec;

        float flow_comp_m_x;

        float flow_comp_m_y;

        float ground_distance;

        int16 flow_x;

        int16 flow_y;

        u8 sensor_id;

        u8 quality;

        float gyroz;

};

struct str_optical_flow optical_flow_values;

struct str_optical_flow_rad

{

        u64 time_usec;

        u32 integration_time_us;

        float integrated_x;

        float integrated_y;

        float integrated_xgyro;

        float integrated_ygyro;

        float integrated_zgyro;

        u32 time_delta_distance_us;

        float distance;

        int16 temperature;

        u8 sensor_id;

        u8 quality;

};

struct str_optical_flow_rad optical_flow_rad;

struct str_gps

{

        float latitude;

        u8 lat_orientation;

        float longitude;

        u8 long_orientation;

        float utc;

        float utc_date;

        u8 valid;

};

struct str_gps gps_value_struct;

#endif //_PROCESSING_H