#ifndef AHRS_CALIBRATION_HPP
#define AHRS_CALIBRATION_HPP

#include <Eigen/Core>
#include <cstdlib>
using std::size_t;
using namespace Eigen;

void calibration_misalignment(Vector3f & rotationVector,
                              const Vector3f samples0[],
                              const Vector3f & reference0,
                              const Vector3f samples1[],
                              const Vector3f & reference1,
                              size_t n_samples);

Vector3f twostep_bias_only(const Vector3f samples[],
                           size_t n_samples,
                           const Vector3f & referenceField,
                           const float noise);

void twostep_bias_scale(Vector3f & bias,
                        Vector3f & scale,
                        const Vector3f samples[],
                        const size_t n_samples,
                        const Vector3f & referenceField,
                        const float noise);

void twostep_bias_scale(Vector3f & bias,
                        Matrix3f & scale,
                        const Vector3f samples[],
                        const size_t n_samples,
                        const Vector3f & referenceField,
                        const float noise);

void openpilot_bias_scale(Vector3f & bias,
                          Vector3f & scale,
                          const Vector3f samples[],
                          const size_t n_samples,
                          const Vector3f & referenceField);

void gyroscope_calibration(Vector3f & bias,
                           Matrix3f & accelSensitivity,
                           Vector3f gyroSamples[],
                           Vector3f accelSamples[],
                           size_t n_samples);

#endif // !defined AHRS_CALIBRATION_HPP