#ifndef _Dvl_H
#define _Dvl_H

#include "NavSensor.h"
#include "DvlIF.h"
#include "NavigationIF.h"

// Dummy value for now...
#define MaxDvlFixDepth 0.1

/*
CLASS 
Dvl

DESCRIPTION
Dvl NavSensor

AUTHOR
Tom O'Reilly
*/
class Dvl : public NavSensor {

public:

  Dvl(const char *name, NavSensors *sensors, int maxBad = 3);

  Boolean Dvl::newData();

  /////////////////////////////////////////////////////////////////////
  // Latest Dvl fix
  DvlIF::Data data;

  //
  // Compute the altitude:
  //
  double Dvl::altitude(NavigationIF::Attitude *attitude);

protected:

  virtual TaskInterface *createTaskIF(int timeout);

  virtual DeviceIF::Status readTaskIF(Boolean *valid, 
				      TimeIF::TimeSpec *sampleTime);

  DvlIF *_DvlIF;

  Boolean m_newData;

};


#endif