filter_base.hpp

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/*
 * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
 *
 * SPDX-License-Identifier: MIT
 */
#ifndef M5_UNIT_IMU_IMU_FILTER_FILTER_BASE_HPP
#define M5_UNIT_IMU_IMU_FILTER_FILTER_BASE_HPP
 
#include <cstdint>
 
namespace m5 {
namespace imu {
 
enum class FilterType : uint8_t {
    Complementary,  
    Madgwick,       
    Mahony,         
    EKF,            
    Fusion,         
    VQF,            
};
 
class AhrsFilterBase {
public:
    virtual ~AhrsFilterBase() = default;
 
    virtual void reset() = 0;
 
    virtual void update(const float dt, const float accel[3], const float gyro[3], const float* mag) = 0;
 
    virtual void quaternion(float& w, float& x, float& y, float& z) const = 0;
};
 
}  // namespace imu
}  // namespace m5
#endif