/****************************************************************************/
/* 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 InsIF : InstrumentIF {

  struct InertialState {
    long status;
    double lat;
    double lon;
    double depth;
    double roll;
    double pitch;
    double yaw;
    double vbodyx;
    double vbodyy;
    double vbodyz;
    double accelx;
    double accely;
    double accelz;
    double rollRate;
    double pitchRate;
    double yawRate;
  };

  ////////////////////////////////////////////////////////////
  // Get attitude
  DeviceIF::Status getInertialState(out InertialState insState,
                               out TimeIF::TimeSpec sampleTime);


};