#ifndef FUSION_MEASUREMENT_H
#define FUSION_MEASUREMENT_H

#include <stdbool.h>
#include <stdint.h>

/*
 * Hardware- and solver-neutral messages shared at the GPS/ESKF boundary.
 * timestamp_ticks always belongs to the common local monotonic timebase; GPS
 * week/TOW is metadata and must not drive filter dt.
 */
typedef struct {
	uint64_t timestamp_ticks;
	double latitude_deg;
	double longitude_deg;
	double height_m;
	double covariance_enu_m2[3][3];
	double hacc_m;
	double vacc_m;
	double residual_rms_m;
	double chi_square_ratio;
	unsigned int used_satellites;
	bool solution_valid;
} fusion_gps_measurement_t;

typedef struct {
	uint64_t timestamp_ticks;
	double accel_mps2[3];
	double gyro_rps[3];
	double temperature_c;
	uint32_t sequence;
} fusion_imu_measurement_t;

/* Generic local-navigation measurement consumed by the ESKF coordinator. */
typedef struct {
	uint64_t timestamp_ticks;
	double position_enu_m[3];
	double covariance_enu_m2[9];
	double source_quality;
	bool source_valid;
} fusion_position_measurement_t;

#endif