#pragma once
#include <Arduino.h>

// Handset attitude from an MPU6050: same complementary filter as the robot's
// RobotIMU, plus a mounting-orientation remap, boot-time gyro bias capture,
// and a "level" reference so the operator's natural holding angle reads as 0.
class RemoteIMU {
public:
  bool begin();              // false if the IMU didn't respond; hold the remote still during this
  void update(float dt);     // no-op if the IMU never came up
  bool ok() const { return ok_; }

  // Tilt relative to the zeroed level pose, degrees, handset frame
  // (+roll = right side down, +pitch = far edge down).
  float rollDeg()  const { return roll_deg_  - zero_roll_; }
  float pitchDeg() const { return pitch_deg_ - zero_pitch_; }

  void zeroLevel() { zero_roll_ = roll_deg_; zero_pitch_ = pitch_deg_; }

private:
  float roll_deg_ = 0, pitch_deg_ = 0;
  float zero_roll_ = 0, zero_pitch_ = 0;
  float gyro_bias_[3] = {};
  bool ok_ = false;

  // Reads and remaps into the handset frame. Accel in g, gyro in deg/s.
  bool readRaw(float a[3], float g[3]);
};