#ifndef IRS_H
#define IRS_H

#include "quaternion.h"
#include "vector.h"

#define PI			3.14159265359f
#define DEG2RAD		PI / 180.0f

typedef struct
{
    Quaternion q;   // ориентация
    Vector3 gyro;   // deg/s
    Vector3 accel;  // g

} IRS;

void IRS_init(IRS* irs);

void IRS_update(IRS* irs, const Vector3* gyro, const Vector3* accel, float dt);

Vector3 IRS_getGravity(const IRS* irs);

#endif