Add bare-metal TDK IMU ESKF fusion

soc/software/gps_system/header/navigation_fusion.h

@@ -0,0 +1,33 @@
+#ifndef NAVIGATION_FUSION_H
+#define NAVIGATION_FUSION_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "fusion_engine.h"
+#include "fusion_measurement.h"
+#include "fusion_motion.h"
+
+typedef struct {
+	uint64_t timestamp_ticks;
+	double position_enu_m[3];
+	double velocity_enu_mps[3];
+	double latitude_deg;
+	double longitude_deg;
+	double height_m;
+	double position_std_m[3];
+	double speed_mps;
+	double last_position_nis;
+	fusion_motion_state_t motion_state;
+	uint64_t gps_accepted;
+	uint64_t gps_nis_rejected;
+	bool valid;
+} navigation_fusion_output_t;
+
+bool navigation_fusion_init(uint64_t local_timebase_hz);
+bool navigation_fusion_publish_gps(const fusion_gps_measurement_t* measurement);
+unsigned int navigation_fusion_service(void);
+bool navigation_fusion_get_output(navigation_fusion_output_t* output);
+const fusion_engine_t* navigation_fusion_engine(void);
+
+#endif