/*
   Paparazzi mcu0 $Id: nav.h,v 1.1 2011-01-18 12:48:39 moellmer Exp $

   Copyright (C) 2003  Pascal Brisset, Antoine Drouin

   This file is part of paparazzi.

   paparazzi is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; either version 2, or (at your option)
   any later version.

   paparazzi is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with paparazzi; see the file COPYING.  If not, write to
   the Free Software Foundation, 59 Temple Place - Suite 330,
   Boston, MA 02111-1307, USA.

*/

#ifndef NAV_H
#define NAV_H

#include <std.h>

struct point {
  float x;
  float y;
  float a;
};
extern float cur_pos_x;
extern float cur_pos_y;
extern uint8_t nav_stage, nav_block;
extern float dist2_to_wp, dist2_to_home;

extern const int32_t nav_east0;
extern const int32_t nav_north0;

extern const uint8_t nb_waypoint;
extern struct point waypoints[];
extern float desired_altitude, desired_x, desired_y;

extern uint16_t nav_desired_gaz;
extern float nav_pitch, rc_pitch;
extern bool_t too_far_from_home;
extern uint16_t stage_time, block_time; /* s */
extern float stage_time_ds; /* s */
extern float nav_desired_roll;

void nav_update( void );
void nav_home( void );
void nav_init( void );

#endif /* NAV_H */