ahrs.h

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/*
 * Copyright (c) 2021 Kevin Townsend
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_AHRS_H_
#define ZEPHYR_INCLUDE_ZSL_AHRS_H_
 
#include <zsl/zsl.h>
#include <zsl/vectors.h>
#include <zsl/orientation/euler.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
struct zsl_attitude {
    union {
        struct {
            zsl_real_t roll;
            zsl_real_t pitch;
            zsl_real_t yaw;
        };
        zsl_real_t idx[3];
    };
    union {
        struct {
            uint8_t roll_invalid : 1;
            uint8_t pitch_invalid : 1;
            uint8_t yaw_invalid : 1;
        } status;
        uint8_t status_bits;
    };
};
 
int zsl_att_to_vec(struct zsl_attitude *a, struct zsl_vec *v);
 
int zsl_att_to_euler(struct zsl_attitude *a, struct zsl_euler *e);
 
int zsl_att_from_euler(struct zsl_euler *e, struct zsl_attitude *a);
 
int zsl_att_from_accelmag(struct zsl_vec *accel, struct zsl_vec *mag,
              struct zsl_attitude *a);
 
int zsl_att_from_accel(struct zsl_vec *accel, struct zsl_attitude *a);
 
int zsl_att_accel_angle(struct zsl_vec *a1, struct zsl_vec *a2, zsl_real_t *b);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_AHRS_H_ */
 /* End of ahrs group */