#pragma once

#include <fix16.h>
#include <fixvector3d.h>
#include <fixquat.h>

// Get the calibrated magnetometer & accelerometer vectors
// Norm should be close to 1.
void ahrs_get_mag(v3d *result);
void ahrs_get_acc(v3d *result);

// Get the orientation of the device as a quaternion.
// The quaternion represents a transform from sensor coordinates
// to East-North-Up coordinate system.
void ahrs_get_sensor_orientation(qf16 *result);

// Get the orientation relative to the "normal position" of the platform.
// The quaternion represents a transform from platform coordinates to East-North-Up coordinate system.
// The zero position is defined as:
// - weight directly downwards,
// - motor axis in east-west direction
// - motor on the east side.
void ahrs_get_orientation(qf16 *result);