fc_shared.h

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#ifndef FC_SHARED_H
#define FC_SHARED_H
 
#include <stdint.h>
#include "calib_mgr.h"
 
typedef struct {
    uint8_t  imu_ok, running, acc_gated, mag_gated;
    float    q[4];               
    float    att_unc_deg;        
    float    mag_interf_pct;
    float    vib_mg;             
    uint16_t acc_clip;           
    float    loop_hz, jitter_us, cpu_pct, imu_temp_c;
    uint8_t  alt_valid, tof_valid, tof_ground;
    float    h, vz, tof_h;
    uint16_t tof_mm;             
    uint8_t  flow_q;             
    uint8_t  flow_ok;            
    uint8_t  flow_usable;        
    float    vel_body[2];        
    uint32_t baro_pa;            
    uint16_t sensors;            
} fsh_est_t;
 
void fsh_est_write(const fsh_est_t *s);     
void fsh_est_read(fsh_est_t *out);          
extern volatile uint8_t g_fsh_cal_want;     
int  fsh_cal_push(const cal_sample_t *s);
int  fsh_cal_pop(cal_sample_t *s);
 
typedef struct { uint8_t type; cal_set_t set; } fsh_apply_t;
int  fsh_apply_post(uint8_t type, const cal_set_t *set);
int  fsh_apply_take(fsh_apply_t *a);
 
void fsh_reset(void);
 
#endif /* FC_SHARED_H */