#pragma once

#include "fix16.h"

void ahrs_start();
void ahrs_stop();

volatile extern fix16_t ahrs_north; // -1 .. 1
volatile extern fix16_t ahrs_east; // -1 .. 1
volatile extern fix16_t ahrs_inclination; // degrees

volatile extern unsigned ahrs_start_time;
volatile extern unsigned ahrs_updates;

// Sensor calibration data
extern int32_t AHRS_MAG_BIAS_X;
extern int32_t AHRS_MAG_BIAS_Y;
extern int32_t AHRS_MAG_BIAS_Z;
extern int32_t AHRS_MAG_SCALE_X;
extern int32_t AHRS_MAG_SCALE_Y;
extern int32_t AHRS_MAG_SCALE_Z;

extern int32_t AHRS_ACC_BIAS_X;
extern int32_t AHRS_ACC_BIAS_Y;
extern int32_t AHRS_ACC_BIAS_Z;
extern int32_t AHRS_ACC_SCALE_X;
extern int32_t AHRS_ACC_SCALE_Y;
extern int32_t AHRS_ACC_SCALE_Z;

extern fix16_t AHRS_Q_VALUE;
extern fix16_t AHRS_MAG_R;
extern fix16_t AHRS_ACC_R;