#ifndef _QUATERNIONFILTERS_H_
  #define _QUATERNIONFILTERS_H_

  #include <Arduino.h>

  void MadgwickQuaternionUpdate(float ax, float ay, float az, float gx, float gy,
                                float gz, float mx, float my, float mz,
                                float deltat);
  void MahonyQuaternionUpdate(float ax, float ay, float az, float gx, float gy,
                              float gz, float mx, float my, float mz,
                              float deltat);
  const float * getQ();

#endif // _QUATERNIONFILTERS_H_
