#ifndef MADGWICK_FILTER_H
#define MADGWICK_FILTER_H

typedef struct {
    float q[4];     // Quaternion: [qw, qx, qy, qz]
    float beta;     // Filter gain (tunes correction strength)
    float sampleFreq; // Sampling frequency in Hz
} MadgwickFilter;

void MadgwickFilter_Init(MadgwickFilter* filter, float sampleFreq, float beta);
void MadgwickFilter_Update(MadgwickFilter* filter, float gx, float gy, float gz,
                          float ax, float ay, float az);
void MadgwickFilter_GetEulerAngles(MadgwickFilter* filter, float* roll, float* pitch, float* yaw);

#endif /* MADGWICK_FILTER_H */