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 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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/**
 * @file gps_helper.h
 * @author Thomas Gubler <thomasgubler@student.ethz.ch>
 * @author Julian Oes <joes@student.ethz.ch>
 */

#ifndef GPS_HELPER_H
#define GPS_HELPER_H

#include <uORB/uORB.h>
#include <uORB/topics/vehicle_gps_position.h>

#define GPS_EPOCH_SECS 1234567890ULL

class GPS_Helper
{
public:

	GPS_Helper() {};
	virtual ~GPS_Helper() {};

	virtual int			configure(unsigned &baud) = 0;
	virtual int 			receive(unsigned timeout) = 0;
	int 				set_baudrate(const int &fd, unsigned baud);
	float				get_position_update_rate();
	float				get_velocity_update_rate();
	void				reset_update_rates();
	void				store_update_rates();

protected:
	uint8_t _rate_count_lat_lon;
	uint8_t _rate_count_vel;

	float _rate_lat_lon = 0.0f;
	float _rate_vel = 0.0f;

	uint64_t _interval_rate_start;
};

#endif /* GPS_HELPER_H */