#include <stdio.h>
#include "ody_types.h"

struct vehicle vvv,*vvp;

const struct sensor sDefaults[] = {
    "m_present_time(s)", 0,
    "m_dt(s)", 0,
    "m_roll(rad)", 0,
    "m_pitch(rad)", 0,
    "m_yaw(rad)", 0,
    "m_dr_north(m)", 0,
    "m_dr_east(m)", 0,
    "m_dr_dn(m)", 0,
    "m_dr_de(m)", 0,
    "m_pos_n(m)", 0,
    "m_pos_e(m)", 0,
    "m_depth(m)", 0,
    "m_water_speed(m/s)", 0,
    "u_speed_of_sound(m/s)", 1485,
    "u_lbl_beacon_number(#)", 6,
    "u_lbl_1north(m)", 500,
    "u_lbl_1east(m)", 500,
    "u_lbl_1depth(m)", 10,
    "u_lbl_1tat(s)", 0.003,
    "u_lbl_2north(m)", 500,
    "u_lbl_2east(m)", -500,
    "u_lbl_2depth(m)", 10,
    "u_lbl_2tat(s)", 0.003,
    "u_lbl_3north(m)", -500,
    "u_lbl_3east(m)", -500,
    "u_lbl_3depth(m)", 10,
    "u_lbl_3tat(s)", 0.003,
    "u_lbl_4north(m)", -500,
    "u_lbl_4east(m)", 500,
    "u_lbl_4depth(m)", 10,
    "u_lbl_4tat(s)", 0.003,
                "u_lbl_5north(m)", -500,
    "u_lbl_5east(m)", 500,
    "u_lbl_5depth(m)", 10,
    "u_lbl_5tat(s)", 0.003,
                "u_lbl_6north(m)", -500,
    "u_lbl_6east(m)", 500,
    "u_lbl_6depth(m)", 10,
    "u_lbl_6tat(s)", 0.003,
    "u_lbl_cycle(s)", 10,
    "u_lbl_timeout(s)", 8,
    "m_lbl_sr1(m)", 0,
    "m_lbl_sr2(m)", 0,
    "m_lbl_sr3(m)", 0,
    "m_lbl_sr4(m)", 0,
                "m_lbl_sr5(m)", 0,
                "m_lbl_sr6(m)", 0,
    "lbl_newdata()", 0,
    "m_lbl_northfix(m)", 0,
    "m_lbl_eastfix(m)", 0,
    "m_lbl_advance_n(m)", 0,
    "m_lbl_advance_e(m)", 0,
    "lbl_fixstat()", 0,
    "lbl_fixgain()", 0.2835,
    "lbl_range_tol(m)", 25,
    "lbl_fix_err(m)", 30,
    "lbl_min_angle(rad)", 0.2618,
    "lbl_nav2_angle(rad)", 0,
    "m_lbl_ping_time(s)", -1e+06,
    "m_lbl_num_used()", 0,
    "m_lbl_valid1()", 0,
    "m_lbl_valid2()", 0,
    "m_lbl_valid3()", 0,
    "m_lbl_valid4()", 0,
                "m_lbl_valid5()", 0,
                "m_lbl_valid6()", 0,
    "m_lbl_median1(m)", 0,
    "m_lbl_median2(m)", 0,
    "m_lbl_median3(m)", 0,
    "m_lbl_median4(m)", 0,
                "m_lbl_median5(m)", 0,
                "m_lbl_median6(m)", 0
};

const int num_sensors = sizeof(sDefaults)/sizeof(struct sensor);

const int M_PRESENT_TIME = 0;
const int M_DT = 1;
const int M_ROLL = 2;
const int M_PITCH = 3;
const int M_YAW = 4;
const int M_DR_NORTH = 5;
const int M_DR_EAST = 6;
const int M_DR_DN = 7;
const int M_DR_DE = 8;
const int M_POS_N = 9;
const int M_POS_E = 10;
const int M_DEPTH = 11;
const int M_WATER_SPEED = 12;
const int U_SPEED_OF_SOUND = 13;
const int U_LBL_BEACON_NUMBER = 14;
const int U_LBL_1NORTH = 15;
const int U_LBL_1EAST = 16;
const int U_LBL_1DEPTH = 17;
const int U_LBL_1TAT = 18;
const int U_LBL_2NORTH = 19;
const int U_LBL_2EAST = 20;
const int U_LBL_2DEPTH = 21;
const int U_LBL_2TAT = 22;
const int U_LBL_3NORTH = 23;
const int U_LBL_3EAST = 24;
const int U_LBL_3DEPTH = 25;
const int U_LBL_3TAT = 26;
const int U_LBL_4NORTH = 27;
const int U_LBL_4EAST = 28;
const int U_LBL_4DEPTH = 29;
const int U_LBL_4TAT = 30;
const int U_LBL_5NORTH = 31;
const int U_LBL_5EAST = 32;
const int U_LBL_5DEPTH = 33;
const int U_LBL_5TAT = 34;
const int U_LBL_6NORTH = 35;
const int U_LBL_6EAST = 36;
const int U_LBL_6DEPTH = 37;
const int U_LBL_6TAT = 38;
const int U_LBL_CYCLE = 39;
const int U_LBL_TIMEOUT = 40;
const int M_LBL_SR1 = 41;
const int M_LBL_SR2 = 42;
const int M_LBL_SR3 = 43;
const int M_LBL_SR4 = 44;
const int M_LBL_SR5 = 45;
const int M_LBL_SR6 = 46;
const int LBL_NEWDATA = 47;
const int M_LBL_NORTHFIX = 48;
const int M_LBL_EASTFIX = 49;
const int M_LBL_ADVANCE_N = 50;
const int M_LBL_ADVANCE_E = 51;
const int LBL_FIXSTAT = 52;
const int LBL_FIXGAIN = 53;
const int LBL_RANGE_TOL = 54;
const int LBL_FIX_ERR = 55;
const int LBL_MIN_ANGLE = 56;
const int LBL_NAV2_ANGLE = 57;
const int M_LBL_PING_TIME = 58;
const int M_LBL_NUM_USED = 59;
const int M_LBL_VALID1 = 60;
const int M_LBL_VALID2 = 61;
const int M_LBL_VALID3 = 62;
const int M_LBL_VALID4 = 63;
const int M_LBL_VALID5 = 64;
const int M_LBL_VALID6 = 65;
const int M_LBL_MEDIAN1 = 66;
const int M_LBL_MEDIAN2 = 67;
const int M_LBL_MEDIAN3 = 68;
const int M_LBL_MEDIAN4 = 69;
const int M_LBL_MEDIAN5 = 70;
const int M_LBL_MEDIAN6 = 71;