// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2013/01/16
//  filename:   Gx3_25_ahrs.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    class for 3dmgx3-25 ahrs
//
//
/*********************************************************************/

#include "Gx3_25_ahrs.h"
#include <FrameworkManager.h>
#include <AhrsData.h>

using std::string;
using namespace flair::core;
using namespace flair::sensor;

namespace flair { namespace filter {

Gx3_25_ahrs::Gx3_25_ahrs(const FrameworkManager* parent,string name,SerialPort *serialport,Gx3_25_imu::Command_t command,uint8_t priority) : Ahrs(new Gx3_25_imu(parent,name,serialport,command,priority),name) {
}

Gx3_25_ahrs::~Gx3_25_ahrs() {
}

void Gx3_25_ahrs::Start(void) {
    ((Gx3_25_imu*)GetImu())->Start();
}

//datas from Gx3_25_imu are AhrsData!
void Gx3_25_ahrs::UpdateFrom(const io_data *data) {
    AhrsData *input=(AhrsData*)data;
    AhrsData *output;
    GetDatas(&output);

    Quaternion quaternion;
    Vector3D filteredAngRates;
    input->GetQuaternionAndAngularRates(quaternion,filteredAngRates);
    output->SetQuaternionAndAngularRates(quaternion,filteredAngRates);
    output->SetDataTime(input->DataTime());

    ProcessUpdate(output);
}

} // end namespace filter
} // end namespace flair