#ifndef _TAILCONE_H
#define _TAILCONE_H

#include "NavSensor.h"
#include "TailConeIF.h"

/*
CLASS 
TailCone

DESCRIPTION
TailCone NavSensor (used for measuring vehicle speed)

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

public:

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

  ///////////////////////////////////////////////////////////////////
  // Latest water speed
  double waterSpeed();

protected:

  virtual TaskInterface *createTaskIF(int timeout);

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

  TailConeIF *_tailConeIF;

  double _waterSpeed;

  // Distance the vehicle travels per prop revolution (linear approximation)
  double _propPitch;
};


#endif