IMUNew.h

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#ifndef DW_SENSORS_IMU_IMU_NEW_H_
#define DW_SENSORS_IMU_IMU_NEW_H_

#include <dw/sensors/imu/IMU.h>
#include <dw/core/signal/SignalStatus.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwIMUFrameNew
{
    struct
    {
        dwSignalValidity timestamp_us;
        dwSignalValidity orientation[3];
        dwSignalValidity orientationQuaternion;
        dwSignalValidity turnrate[3];
        dwSignalValidity acceleration[3];
        dwSignalValidity magnetometer[3];
        dwSignalValidity heading;
        dwSignalValidity headingType;
        dwSignalValidity temperature;
        dwSignalValidity accelerationOffset[3];
        dwSignalValidity turnrateOffset[3];
        dwSignalValidity turnrateAccel[3];
        dwSignalValidity imuTempQuality;
        dwSignalValidity imuAccelerationQuality[3];
        dwSignalValidity imuTurnrateQuality[3];
        dwSignalValidity imuTurnrateOffsetQuality[3];
        dwSignalValidity imuTurnrateAccelQuality[3];
        dwSignalValidity imuTimestampQuality;
        dwSignalValidity imuStatus;
        dwSignalValidity reserved[64];
    } validityInfo;

    dwTime_t timestamp_us;

    float64_t orientation[3];

    dwQuaterniond orientationQuaternion;

    float64_t turnrate[3];

    float64_t acceleration[3];

    float64_t magnetometer[3];

    float64_t heading;

    dwIMUHeadingType headingType;

    float32_t temperature;

    float64_t accelerationOffset[3];

    float64_t turnrateOffset[3];

    float64_t turnrateAccel[3];

    uint32_t imuTempQuality;

    uint32_t imuAccelerationQuality[3];

    uint32_t imuTurnrateQuality[3];

    uint32_t imuTurnrateOffsetQuality[3];

    uint32_t imuTurnrateAccelQuality[3];

    uint32_t imuTimestampQuality;

    uint32_t imuStatus;

    uint8_t reserved[512];
} dwIMUFrameNew;

#ifdef __cplusplus
}
#endif

#endif // DW_SENSOR_IMU_IMU_NEW_H_