#ifndef IMU_CALIBRATION_H
#define IMU_CALIBRATION_H

#include <stdbool.h>

#include "fusion_measurement.h"

/*
 * Sensor-independent calibration in the IMU body frame.
 *
 * corrected = transform * (measured - bias - temperature_coefficient * dT)
 *
 * The transform can contain scale, cross-axis and mounting-axis corrections.
 * Temperature correction is deliberately opt-in; collecting temperature does
 * not change measurements unless temperature_compensation_enabled is true.
 */
typedef struct {
	double accel_bias_mps2[3];
	double gyro_bias_rps[3];
	double accel_transform[3][3];
	double gyro_transform[3][3];
	double reference_temperature_c;
	double accel_temperature_coefficient_mps2_per_c[3];
	double gyro_temperature_coefficient_rps_per_c[3];
	bool temperature_compensation_enabled;
} imu_calibration_t;

void imu_calibration_default(imu_calibration_t* calibration);
bool imu_calibration_is_valid(const imu_calibration_t* calibration);
bool imu_calibration_apply(const imu_calibration_t* calibration,
	                       fusion_imu_measurement_t* measurement);

#endif