Unlock Full Observability with copper-rs v0.13 — Copper Robotics

use cu29::units::si::acceleration::meter_per_second_squared;
use cu29::units::si::angular_velocity::radian_per_second;
use cu29::units::si::f32::{
    Acceleration, AngularVelocity, MagneticFluxDensity, ThermodynamicTemperature,
};
use cu29::units::si::magnetic_flux_density::microtesla;
use cu29::units::si::thermodynamic_temperature::degree_celsius;
use serde::{Deserialize, Serialize};

/// Standardized IMU payload carrying acceleration, angular velocity, and optional magnetometer data.
#[derive(Clone, Copy, Debug, PartialEq, Serialize, Deserialize, Encode, Decode, Reflect)]
pub struct ImuPayload {
    pub accel_x: Acceleration,
    pub accel_y: Acceleration,
    pub accel_z: Acceleration,
    pub gyro_x: AngularVelocity,
    pub gyro_y: AngularVelocity,
    pub gyro_z: AngularVelocity,
    pub temperature: ThermodynamicTemperature,
}