////////////////////////////////////////////////////////////////////////////
//
//  This file is part of RTIMULib
//
//  Copyright (c) 2014-2015, richards-tech, LLC
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#ifndef _RTIMUACCELCAL_H
#define	_RTIMUACCELCAL_H

#include "RTIMUCalDefs.h"
#include "RTIMULib.h"

//  RTIMUAccelCal is a helper class for performing accelerometer calibration

class RTIMUAccelCal
{

public:
    RTIMUAccelCal(RTIMUSettings *settings);
    virtual ~RTIMUAccelCal();

    //  This should be called at the start of the calibration process
    //  Loads previous values if available
    void accelCalInit();

    //  This should be called to clear enabled axes for a new run
    void accelCalReset();

    //  accelCalEnable() controls which axes are active - largely so that each can be done separately
    void accelCalEnable(int axis, bool enable);

    // newAccalCalData() adds a new sample for processing but only the axes enabled previously
    void newAccelCalData(const RTVector3& data);            // adds a new accel sample

    // accelCalValid() checks if all values are reasonable. Should be called before saving
    bool accelCalValid();

    //  accelCalSave() should be called at the end of the process to save the cal data
    //  to the settings file. Returns false if invalid data
    bool accelCalSave();                                    // saves the accel cal data for specified axes

    // these vars used during the calibration process

    bool m_accelCalValid;                                   // true if the mag min/max data valid
    RTVector3 m_accelMin;                                   // the min values
    RTVector3 m_accelMax;                                   // the max values

    RTVector3 m_averageValue;                               // averaged value actually used

    bool m_accelCalEnable[3];                               // the enable flags

    RTIMUSettings *m_settings;

};

#endif // _RTIMUACCELCAL_H