#ifndef MPU6000_H
#define MPU6000_H

#include <stdint.h>
#include <stdbool.h>

typedef struct {
    float pitch;        // degrees, filtered (complementary filter)
    float pitch_rate;   // degrees/sec (raw gyro pitch axis)
    float roll;         // degrees, filtered (complementary filter)
    float yaw;          // degrees, gyro-integrated (drifts — no magnetometer)
    float accel_x;      // g
    float accel_z;      // g
} IMUData;

bool mpu6000_init(void);
void mpu6000_read(IMUData *data);

#endif