/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : AhrsIF.idl                                                    */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
/*
CLASS 
AhrsIF

DESCRIPTION
Generic interface to AHRS devices

AUTHOR
Tom O'Reilly
*/

#include "InstrumentIF.idl"

interface AhrsIF : InstrumentIF {

  struct Attitude {
    double roll;
    double pitch;
    double yaw;
    double rollRate;
    double pitchRate;
    double yawRate;
  };

     ////////////////////////////////////////////////////////////
     // Start device calibration
     DeviceIF::Status calibrate();

     ////////////////////////////////////////////////////////////
     // Query device calibration status
     boolean isCalibrating();

  ////////////////////////////////////////////////////////////
  // Get attitude
  DeviceIF::Status getAttitude(out Attitude attitude, 
                               out TimeIF::TimeSpec sampleTime);


  ////////////////////////////////////////////////////////////
  // Return True if AHRS is implemented with magnetic compass.
  // (Navigation might need to make magnetic correction)
  boolean magneticCompass();

};