/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software under the terms of the
 * GNU General Public License as published by the Free Software
 * Foundation, either version 3 of the License, or (at your option)
 * any later version.
 *
 * Cleanflight and Betaflight are distributed in the hope that they
 * 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 this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

typedef enum {
    SENSOR_INDEX_GYRO = 0,
    SENSOR_INDEX_ACC,
    SENSOR_INDEX_BARO,
    SENSOR_INDEX_MAG,
    SENSOR_INDEX_RANGEFINDER,
    SENSOR_INDEX_COUNT
} sensorIndex_e;

extern uint8_t requestedSensors[SENSOR_INDEX_COUNT];
extern uint8_t detectedSensors[SENSOR_INDEX_COUNT];

typedef struct int16_flightDynamicsTrims_s {
    int16_t roll;
    int16_t pitch;
    int16_t yaw;
    int16_t calibrationCompleted;
} flightDynamicsTrims_def_t;

typedef union flightDynamicsTrims_u {
    int16_t raw[4];
    flightDynamicsTrims_def_t values;
} flightDynamicsTrims_t;

#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_RANGEFINDER = 1 << 4,
    SENSOR_GPS = 1 << 5,
    SENSOR_GPSMAG = 1 << 6
} sensors_e;