#ifndef _INS_H
#define _INS_H

#include "NavSensor.h"
#include "InsIF.h"
#include "NavigationIF.h"

/*
CLASS 
Ahrs

DESCRIPTION
Ahrs NavSensor

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

public:

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

  ///////////////////////////////////////////////////////////////////
  // Latest attitude
  InsIF::InertialState inertialState;

protected:

  virtual TaskInterface *createTaskIF(int timeout);

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

  InsIF *_insIF;
};


#endif