//----------------------------------------------------------
// Module GPS_CtrlT1
//----------------------------------------------------------
#ifndef __orc_Mod_GPS_CtrlT1_h
#define __orc_Mod_GPS_CtrlT1_h

#include "Exec/mt.h"
#include "Exec/rt.h"
#include "Exec/module.h"

#include "module_GPS_CtrlT1_Inc.h"

class orc_RT_X4_Diags_T1;
class orc_Mod_GPS_CtrlT1: public ModuleAlgo { 
protected: 
	// Internal Variables 
// Orccad Version: 3.2
// Module : GPS_CtrlT1
// Variables declaration File
// Date of creation : Thu Oct  2 09:28:52 2008
  int cpt;
  double Time, DtC, TZERO;
	double Pos[3], D_Pos[3], Quat[4], D_attitude[3], rtl[3];
	double eul_d[3], gyro[3], quat_err[4], omega_err[3], s_ref[4], xp1[3], xp2[3],xp3[3],xp0[3];
	double couple_ref[3];
	orc_RT_X4_Diags_T1 *pRT;
public: 
	orc_Mod_GPS_CtrlT1(ModuleTask *mt,double period):
	  ModuleAlgo("orc_Mod_GPS_CtrlT1",mt,period) {};
	~orc_Mod_GPS_CtrlT1() {};
	 // Output Ports declaration
	 double VO[4];
	 double UO[4];
	 // Output Event Ports declaration
	 int X4_ReadyE;
	 int PanicE;
	 // Output param Ports declaration

	 // Methods of computation 
	 void init(const double QI[7], const double PosI[6], const double VmotI[4], const double VrelI[3], const double D_PosI[6], const int &Motor_RecoverI); 
	 void param(); 
	 void reparam(); 
	 void compute(const double QI[7], const double PosI[6], const double VmotI[4], const double VrelI[3], const double D_PosI[6], const int &Motor_RecoverI ); 
	 void end(); 
 }; 
#endif 
// End class  orc_Mod_GPS_CtrlT1