ahrs.h

/*******************************************************************************
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/*******************************************************************************
 * \file ahrs.h
 * 
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 *   
 * \brief This file implements data structure for attitude estimate
 *
 ******************************************************************************/


#ifndef AHRS_H_
#define AHRS_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include <stdbool.h>
#include "quaternions.h"


typedef struct
{
    quat_t      qe;                         
    
    float       angular_speed[3];           
    float       linear_acc[3];              
    
    float       heading;                    
    quat_t      up_vec;                     
    quat_t      north_vec;                  
    
    uint32_t    last_update;                
    float       dt;                         
} ahrs_t;

typedef struct  
{
    int32_t x;                              
    int32_t y;                              
    int32_t z;                              
}ahrs_config_t;

bool ahrs_init(ahrs_t* ahrs, ahrs_config_t* config);


#ifdef __cplusplus
}
#endif

#endif /* AHRS_H_ */