/* Estimation of sphere shell rotation speed and axis.
 * 
 * The estimate contains both an instantaneous estimate
 * based on measurements, and a smoothed estimate from
 * Kalman filter.
 */

#include <fixquat.h>

// Get a quaternion that represents the rotation per 10 ms.
void rotation_get(qf16 *q);

// Update the rotation, call at most once per sensor cycle.
void rotation_update();