Kconfig

# Copyright (c) 2024 Tomislav Milkovic
# SPDX-License-Identifier: MIT

config SENSOR_FUSION_AHRS
    bool "Enable AHRS sensor fusion module"
    default y
    depends on DT_HAS_ZEPHYR_SENSOR_FUSION_AHRS_ENABLED
    depends on SENSOR
    help
      Enable the attitude and heading reference system (AHRS) sensor
      fusion module. This module samples the accelerometer, gyroscope
      and (optionally) magnetometer data and uses that data to calculate
      four outputs: quaternion, gravity, linear acceleration, and Earth
      acceleration. This can be converted to a rotation matrix or to Euler
      angles.

      This module requires a device tree node with `zephyr,sensor-fusion-ahrs`
      compatible to be defined and enabled in board device tree. Refer to
      dts/bindings/sensor/zephyr,sensor-fusion-ahrs.yaml file to see which
      properties need to be configured in this device tree node.

if SENSOR_FUSION_AHRS

config SENSOR_FUSION_AHRS_ACCEL_ZERO_TRIM_THRESHOLD_MILLIG
    int "AHRS acceleration threshold which will be trimmed to 0"
    default 350
    help
      Algorithm will trim acceleration values lower than this option to 0.
      Default value is 350 millig (0.35 g).

config SENSOR_FUSION_AHRS_GYRO_ZERO_TRIM_THRESHOLD_MILLIDEGREES
    int "AHRS rotational speed threshold which will be trimmed to 0"
    default 2100
    help
      Algorithm will trim rotational speed values lower than this option to 0.
      Default value is 2100 millidegrees (2.1 degrees).

# Logging subsystem configuration:
module = SENSOR_FUSION_AHRS
module-str = sensor_fusion_ahrs
source "subsys/logging/Kconfig.template.log_config"

endif # SENSOR_FUSION_AHRS