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#include "IMU.hpp"
#include "gps.hpp"

/***********************************************************************************************************************
 * Variables
 **********************************************************************************************************************/
#ifdef TARGET_BUILD

static ICM20602IMU *imuObj;
static NEOM8Gps *gpsObj;

#elif
defined(TEST_BUILD)

static matlabIMU imuObj;
static matlabGps gpsObj;

#endif

/***********************************************************************************************************************
 * Code
 **********************************************************************************************************************/

void SensorFusion_Init(void)
{
#ifdef TARGET_BUILD

  imuObj = ICM20602::GetInstance();
  gpsObj = NEOM8 ::GetInstance();

#elif defined(TEST_BUILD)

  imuObj = matlabIMU::GetInstance();
  gpsObj = matlabGps::GetInstance();

#endif
}

void SensorFusion_Execute(SensorResult *sensResult)
{

    IMUData_t imuData = imuObj.getResult();
    GpsData_t GpsData = gpsObj.getResult();

    sensResult.result = DoCrazyMath(&imuData, &GpsData);

}