ahrs.h

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/*
 * Copyright (C) 2008-2010 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef AHRS_H
#define AHRS_H

#include "std.h"

#define AHRS_COMP_ID_NONE    0
#define AHRS_COMP_ID_GENERIC 1
#define AHRS_COMP_ID_IR      2
#define AHRS_COMP_ID_ICQ     3
#define AHRS_COMP_ID_ICE     4
#define AHRS_COMP_ID_FC      4
#define AHRS_COMP_ID_DCM     6
#define AHRS_COMP_ID_FINV    7
#define AHRS_COMP_ID_MLKF    8
#define AHRS_COMP_ID_GX3     9
#define AHRS_COMP_ID_CHIMU   10

/* include actual (primary) implementation header */
#ifdef AHRS_TYPE_H
#include AHRS_TYPE_H
#endif

/* include secondary implementation header */
#ifdef AHRS_SECONDARY_TYPE_H
#include AHRS_SECONDARY_TYPE_H
#endif

typedef bool_t (*AhrsEnableOutput)(bool_t);

/* for settings when using secondary AHRS */
extern uint8_t ahrs_output_idx;

extern void ahrs_register_impl(AhrsEnableOutput enable);

extern void ahrs_init(void);

extern int ahrs_switch(uint8_t idx);

#endif /* AHRS_H */