//! Inertial measurement unit observations.

use kaptan_time::Timestamp;

/// Coherent IMU observation in the board body frame.
///
/// Acceleration is milligravity, angular rate is milliradians per second, and
/// temperature is centidegrees Celsius. The board-frame transform is complete
/// before this value is published.
#[derive(Clone, Copy, Debug, Eq, PartialEq)]
pub struct ImuSnapshot {
    /// Monotonic timestamp captured at acquisition interrupt entry.
    pub timestamp: Timestamp,
    /// Body-frame acceleration in milligravity.
    pub acceleration_milligravity: [i16; 3],
    /// Body-frame angular rate in milliradians per second.
    pub angular_rate_milliradians_per_second: [i16; 3],
    /// Sensor temperature in centidegrees Celsius.
    pub temperature_centidegrees_celsius: i16,
}

impl ImuSnapshot {
    /// Creates one accepted IMU observation.
    pub const fn new(
        timestamp: Timestamp,
        acceleration_milligravity: [i16; 3],
        angular_rate_milliradians_per_second: [i16; 3],
        temperature_centidegrees_celsius: i16,
    ) -> Self {
        Self {
            timestamp,
            acceleration_milligravity,
            angular_rate_milliradians_per_second,
            temperature_centidegrees_celsius,
        }
    }
}