#pragma once
#include "sensor_state.h"

struct LevelCalibrationState {
    bool valid = false;
    bool active = false;
    float pitchOffsetDegrees = 0;
    float rollOffsetDegrees = 0;
    unsigned long startedMs = 0;
    unsigned long lastSampleMs = 0;
    uint32_t sampleCount = 0;
    float pitchSum = 0;
    float rollSinSum = 0;
    float rollCosSum = 0;
    float firstPitch = 0;
    float firstRoll = 0;
};

extern LevelCalibrationState levelCalibration;
void initLevelCalibration();
bool startLevelCalibration(const ImuState& imu);
bool updateLevelCalibration(const ImuState& imu, String& result);
void clearLevelCalibration();
float calibratedPitchDegrees(const ImuState& imu);
float calibratedRollDegrees(const ImuState& imu);