#pragma once

#define CALIBRATING_GYRO_CYCLES             1000
#define CALIBRATING_ACC_CYCLES              400
#define CALIBRATING_BARO_CYCLES             200 // 10 seconds init_delay + 200 * 25 ms = 15 seconds before ground pressure settles

typedef enum {
    SENSOR_GYRO = 1 << 0, // always present
    SENSOR_ACC = 1 << 1,
    SENSOR_BARO = 1 << 2,
    SENSOR_MAG = 1 << 3,
    SENSOR_SONAR = 1 << 4,
    SENSOR_GPS = 1 << 5,
    SENSOR_GPSMAG = 1 << 6,
} AvailableSensors;

typedef enum {
    ALIGN_DEFAULT = 0,                                      // driver-provided alignment
    CW0_DEG = 1,
    CW90_DEG = 2,
    CW180_DEG = 3,
    CW270_DEG = 4,
    CW0_DEG_FLIP = 5,
    CW90_DEG_FLIP = 6,
    CW180_DEG_FLIP = 7,
    CW270_DEG_FLIP = 8
} sensor_align_e;

typedef struct sensorAlignmentConfig_s {
    sensor_align_e gyro_align;              // gyro alignment
    sensor_align_e acc_align;               // acc alignment
    sensor_align_e mag_align;               // mag alignment
} sensorAlignmentConfig_t;

extern int16_t heading;