/* Runtime bias & scale estimation for the magnetometer. */

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

typedef struct {
    fix16_t bias_x;
    fix16_t bias_y;
    fix16_t bias_z;
    fix16_t scale_x;
    fix16_t scale_y;
    fix16_t scale_z;
} mag_calib_t;

extern mag_calib_t mag_calib;

void mag_calib_init();
void mag_calib_update(const v3d *mag);