calib.h

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#ifndef CALIB_H
#define CALIB_H
 
#include <stdint.h>
#include "iekf.h"
 
#ifndef CALIB_MAX_SAMPLES
#define CALIB_MAX_SAMPLES 256
#endif
 
typedef struct {
    uint32_t n;
    float acc[CALIB_MAX_SAMPLES][3];
    float mag[CALIB_MAX_SAMPLES][3];
    float gyro_sum[3];
    float gyro_norm_max;
} calib_t;
 
typedef struct {
    iekf_seed_t seed;
    float sigma_acc;        
    float sigma_mag;
    float sigma_acc_raw;    
    float sigma_mag_raw;
} calib_result_t;
 
void     calib_reset(calib_t *c);
int      calib_add(calib_t *c, const float acc[3], const float gyro[3], const float mag[3],
                   float gyro_still_thr);
uint32_t calib_count(const calib_t *c);
int      calib_finish(const calib_t *c, float sigma_min, calib_result_t *out);
float    direction_noise_std(const float (*v)[3], uint32_t n);
 
#endif /* CALIB_H */