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#ifndef __INV_COMPAT_H__
#define __INV_COMPAT_H__
#include "mltypes.h"
#define INV_GYROS 0x0001
#define INV_ACCELS 0x0002
#define INV_ROTATION_MATRIX 0x0003
#define INV_QUATERNION 0x0004
#define INV_EULER_ANGLES 0x0005
#define INV_LINEAR_ACCELERATION 0x0006
#define INV_LINEAR_ACCELERATION_WORLD 0x0007
#define INV_GRAVITY 0x0008
#define INV_ANGULAR_VELOCITY 0x0009
#define INV_GYRO_CALIBRATION_MATRIX 0x000B
#define INV_ACCEL_CALIBRATION_MATRIX 0x000C
#define INV_GYRO_BIAS 0x000D
#define INV_ACCEL_BIAS 0x000E
#define INV_GYRO_TEMP_SLOPE 0x000F
#define INV_RAW_DATA 0x0011
#define INV_EULER_ANGLES_X 0x0013
#define INV_EULER_ANGLES_Y 0x0014
#define INV_EULER_ANGLES_Z 0x0015
#define INV_MAGNETOMETER 0x001A
#define INV_MAG_RAW_DATA 0x001C
#define INV_MAG_CALIBRATION_MATRIX 0x001D
#define INV_MAG_BIAS 0x001E
#define INV_HEADING 0x001F
#define INV_MAG_BIAS_ERROR 0x0020
#define INV_PRESSURE 0x0021
#define INV_LOCAL_FIELD 0x0022
#define INV_MAG_SCALE 0x0023
#define INV_RELATIVE_QUATERNION 0x0024
#define INV_TEMPERATURE 0x2000
#ifdef __cplusplus
extern "C" {
#endif
struct filter_long {
int length;
const long *b;
const long *a;
long *x;
long *y;
};
inv_error_t inv_pressure_supervisor(void);
int inv_get_motion_state(void);
void inv_filter_long(struct filter_long *state, long x);
void inv_q_multf(const float *q1, const float *q2, float *qProd);
void inv_q_addf(float *q1, float *q2, float *qSum);
void inv_q_normalizef(float *q);
void inv_q_norm4(float *q);
void inv_q_invertf(const float *q, float *qInverted);
void inv_matrix_det_incd(double *a, double *b, int *n, int x, int y);
double inv_matrix_detd(double *p, int *n);
inv_error_t inv_get_array(int dataSet, long *data);
inv_error_t inv_get_float_array(int dataSet, float *data);
#ifdef __cplusplus
}
#endif
#endif /* __INV_COMPAT_H__ */
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