/*
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
*/
#pragma once

#define STATE_ECEF_POS_START 0
#define STATE_ECEF_POS_LEN 3
#define STATE_ECEF_ORIENTATION_START 3
#define STATE_ECEF_ORIENTATION_LEN 4
#define STATE_ECEF_VELOCITY_START 7
#define STATE_ECEF_VELOCITY_LEN 3
#define STATE_ANGULAR_VELOCITY_START 10
#define STATE_ANGULAR_VELOCITY_LEN 3
#define STATE_GYRO_BIAS_START 13
#define STATE_GYRO_BIAS_LEN 3
#define STATE_ACCELERATION_START 16
#define STATE_ACCELERATION_LEN 3
#define STATE_ACC_BIAS_START 19
#define STATE_ACC_BIAS_LEN 3
#define STATE_ECEF_POS_ERR_START 0
#define STATE_ECEF_POS_ERR_LEN 3
#define STATE_ECEF_ORIENTATION_ERR_START 3
#define STATE_ECEF_ORIENTATION_ERR_LEN 3
#define STATE_ECEF_VELOCITY_ERR_START 6
#define STATE_ECEF_VELOCITY_ERR_LEN 3
#define STATE_ANGULAR_VELOCITY_ERR_START 9
#define STATE_ANGULAR_VELOCITY_ERR_LEN 3
#define STATE_GYRO_BIAS_ERR_START 12
#define STATE_GYRO_BIAS_ERR_LEN 3
#define STATE_ACCELERATION_ERR_START 15
#define STATE_ACCELERATION_ERR_LEN 3
#define STATE_ACC_BIAS_ERR_START 18
#define STATE_ACC_BIAS_ERR_LEN 3
#define OBSERVATION_PHONE_GYRO 4
#define OBSERVATION_NO_ROT 9
#define OBSERVATION_PHONE_ACCEL 10
#define OBSERVATION_ECEF_POS 12
#define OBSERVATION_CAMERA_ODO_TRANSLATION 13
#define OBSERVATION_CAMERA_ODO_ROTATION 14
#define OBSERVATION_ECEF_ORIENTATION_FROM_GPS 32
#define OBSERVATION_NO_ACCEL 33
#define OBSERVATION_ECEF_VEL 35