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/*
$License:
Copyright (C) 2011 InvenSense Corporation, All Rights Reserved.
$
*/
/******************************************************************************
*
* $Id: mlsupervisor_9axis.h 6123 2011-09-30 18:21:11Z mcaramello $
*
*****************************************************************************/
#ifndef MLDMP_MLSUPERVISOR_H__
#define MLDMP_MLSUPERVISOR_H__
#include "mltypes.h"
//#include "temp_comp.h"
struct inv_fusion_t {
int compassCount;
long quat[4];
};
#ifdef __cplusplus
extern "C" {
#endif
inv_error_t inv_enable_9x_fusion(void);
inv_error_t inv_disable_9x_fusion(void);
inv_error_t inv_enable_9x_fusion_legacy(void);
inv_error_t inv_disable_9x_fusion_legacy(void);
inv_error_t inv_enable_9x_fusion_new(void);
inv_error_t inv_disable_9x_fusion_new(void);
inv_error_t inv_enable_9x_fusion_basic(void);
inv_error_t inv_disable_9x_fusion_basic(void);
inv_error_t inv_enable_9x_fusion_external(void);
inv_error_t inv_disable_9x_fusion_external(void);
inv_error_t inv_enable_maintain_heading(void);
inv_error_t inv_disable_maintain_heading(void);
void inv_set_compass_state(long compassState, long accState,
unsigned long deltaTime,
int magDisturb, int gotBias,
int *new_state,
int *new_accuracy);
#ifdef __cplusplus
}
#endif
#endif // MLDMP_MLSUPERVISOR_H__
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