#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;
	/*
	 * How far the stationary accelerometer magnitude may sit from gravity
	 * purely because of the part's zero-g offset and sensitivity tolerance.
	 * This is a fixed per-unit property, not motion headroom:
	 * finish_calibration() estimates it as accel bias and hands it to the
	 * ESKF, so admitting it here costs nothing.  Sized from the datasheet
	 * zero-g offset; a unit near this limit is worth characterizing.
	 */
	double calibration_accel_offset_allowance_mps2;
	double zero_gyro_measurement_std_rps[FUSION_IMU_QUALITY_AXIS_COUNT];
	/*
	 * Rest-detector thresholds.  These separate genuine platform motion from
	 * the sensor's own residual noise, so they scale with the part rather than
	 * with the vehicle: a quieter IMU sits below a fixed quiescence limit more
	 * of the time and therefore declares rest more readily.  The speed and
	 * dwell thresholds stay in fusion_motion_default_config() because they
	 * describe the platform, not the sensor.
	 */
	double stationary_accel_limit_mps2;
	double stationary_gyro_limit_rps;
	double moving_accel_threshold_mps2;
	double moving_gyro_threshold_rps;
	double moving_jerk_threshold_mps3;
} 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