#ifndef FUSION_IMU_QUALITY_H
#define FUSION_IMU_QUALITY_H

#include <stdbool.h>

#define FUSION_IMU_QUALITY_AXIS_COUNT 3u

/*
 * Hardware-neutral IMU characteristics.  The nominal noise fields describe
 * the sensor/board measurement stream.  The process-noise fields are the
 * deliberately conservative values used by the ESKF and may include timing,
 * mounting, calibration and temperature uncertainty in addition to white
 * sensor noise.
 */
typedef struct {
	const char* name;
	double nominal_accel_noise_density_mps2_sqrt_hz[FUSION_IMU_QUALITY_AXIS_COUNT];
	double nominal_gyro_noise_density_rps_sqrt_hz[FUSION_IMU_QUALITY_AXIS_COUNT];
	double process_accel_noise_density_mps2_sqrt_hz[FUSION_IMU_QUALITY_AXIS_COUNT];
	double process_gyro_noise_density_rps_sqrt_hz[FUSION_IMU_QUALITY_AXIS_COUNT];
	double accel_bias_random_walk_mps2_sqrt_s[FUSION_IMU_QUALITY_AXIS_COUNT];
	double gyro_bias_random_walk_rps_sqrt_s[FUSION_IMU_QUALITY_AXIS_COUNT];
	double calibration_accel_std_limit_mps2;
	double calibration_gyro_std_limit_rps;
	double zero_gyro_measurement_std_rps[FUSION_IMU_QUALITY_AXIS_COUNT];
} fusion_imu_quality_profile_t;

void fusion_imu_quality_default(fusion_imu_quality_profile_t* profile);
bool fusion_imu_quality_is_valid(const fusion_imu_quality_profile_t* profile);

#endif