diff --git a/wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp b/wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp
index 47cc8d819e..94eed095a9 100644
--- a/wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp
+++ b/wpilibc/src/main/native/cpp/ADIS_16470_IMU.cpp
@@ -63,11 +63,10 @@ inline void ADISReportError(int32_t status, const char* file, int line,
  * Constructor.
  */
 ADIS16470_IMU::ADIS16470_IMU()
-    : ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, ADIS16470CalibrationTime::_4s) {
-}
+    : ADIS16470_IMU(kZ, SPI::Port::kOnboardCS0, CalibrationTime::_4s) {}
 
 ADIS16470_IMU::ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
-                             ADIS16470CalibrationTime cal_time)
+                             CalibrationTime cal_time)
     : m_yaw_axis(yaw_axis),
       m_spi_port(port),
       m_calibration_time(static_cast<uint16_t>(cal_time)) {
@@ -292,7 +291,7 @@ bool ADIS16470_IMU::SwitchToAutoSPI() {
  * themselves. After waiting the configured calibration time, the Calibrate()
  *function should be called to activate the new offset calibration.
  **/
-int ADIS16470_IMU::ConfigCalTime(ADIS16470CalibrationTime new_cal_time) {
+int ADIS16470_IMU::ConfigCalTime(CalibrationTime new_cal_time) {
   if (m_calibration_time == static_cast<uint16_t>(new_cal_time)) {
     return 1;
   }
diff --git a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
index 64c11f3b90..faa4199e0a 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16448_IMU.h
@@ -34,75 +34,6 @@
 #endif
 
 namespace frc {
-
-/** @brief ADIS16448 Register Map Declaration */
-static constexpr uint8_t FLASH_CNT = 0x00;  // Flash memory write count
-static constexpr uint8_t XGYRO_OUT = 0x04;  // X-axis gyroscope output
-static constexpr uint8_t YGYRO_OUT = 0x06;  // Y-axis gyroscope output
-static constexpr uint8_t ZGYRO_OUT = 0x08;  // Z-axis gyroscope output
-static constexpr uint8_t XACCL_OUT = 0x0A;  // X-axis accelerometer output
-static constexpr uint8_t YACCL_OUT = 0x0C;  // Y-axis accelerometer output
-static constexpr uint8_t ZACCL_OUT = 0x0E;  // Z-axis accelerometer output
-static constexpr uint8_t XMAGN_OUT = 0x10;  // X-axis magnetometer output
-static constexpr uint8_t YMAGN_OUT = 0x12;  // Y-axis magnetometer output
-static constexpr uint8_t ZMAGN_OUT = 0x14;  // Z-axis magnetometer output
-static constexpr uint8_t BARO_OUT =
-    0x16;  // Barometer pressure measurement, high word
-static constexpr uint8_t TEMP_OUT = 0x18;  // Temperature output
-static constexpr uint8_t XGYRO_OFF =
-    0x1A;  // X-axis gyroscope bias offset factor
-static constexpr uint8_t YGYRO_OFF =
-    0x1C;  // Y-axis gyroscope bias offset factor
-static constexpr uint8_t ZGYRO_OFF =
-    0x1E;  // Z-axis gyroscope bias offset factor
-static constexpr uint8_t XACCL_OFF =
-    0x20;  // X-axis acceleration bias offset factor
-static constexpr uint8_t YACCL_OFF =
-    0x22;  // Y-axis acceleration bias offset factor
-static constexpr uint8_t ZACCL_OFF =
-    0x24;  // Z-axis acceleration bias offset factor
-static constexpr uint8_t XMAGN_HIC =
-    0x26;  // X-axis magnetometer, hard iron factor
-static constexpr uint8_t YMAGN_HIC =
-    0x28;  // Y-axis magnetometer, hard iron factor
-static constexpr uint8_t ZMAGN_HIC =
-    0x2A;  // Z-axis magnetometer, hard iron factor
-static constexpr uint8_t XMAGN_SIC =
-    0x2C;  // X-axis magnetometer, soft iron factor
-static constexpr uint8_t YMAGN_SIC =
-    0x2E;  // Y-axis magnetometer, soft iron factor
-static constexpr uint8_t ZMAGN_SIC =
-    0x30;  // Z-axis magnetometer, soft iron factor
-static constexpr uint8_t GPIO_CTRL = 0x32;  // GPIO control
-static constexpr uint8_t MSC_CTRL = 0x34;   // MISC control
-static constexpr uint8_t SMPL_PRD =
-    0x36;  // Sample clock/Decimation filter control
-static constexpr uint8_t SENS_AVG = 0x38;    // Digital filter control
-static constexpr uint8_t SEQ_CNT = 0x3A;     // MAGN_OUT and BARO_OUT counter
-static constexpr uint8_t DIAG_STAT = 0x3C;   // System status
-static constexpr uint8_t GLOB_CMD = 0x3E;    // System command
-static constexpr uint8_t ALM_MAG1 = 0x40;    // Alarm 1 amplitude threshold
-static constexpr uint8_t ALM_MAG2 = 0x42;    // Alarm 2 amplitude threshold
-static constexpr uint8_t ALM_SMPL1 = 0x44;   // Alarm 1 sample size
-static constexpr uint8_t ALM_SMPL2 = 0x46;   // Alarm 2 sample size
-static constexpr uint8_t ALM_CTRL = 0x48;    // Alarm control
-static constexpr uint8_t LOT_ID1 = 0x52;     // Lot identification number
-static constexpr uint8_t LOT_ID2 = 0x54;     // Lot identification number
-static constexpr uint8_t PROD_ID = 0x56;     // Product identifier
-static constexpr uint8_t SERIAL_NUM = 0x58;  // Lot-specific serial number
-
-/** @brief ADIS16448 Static Constants */
-const double rad_to_deg = 57.2957795;
-const double deg_to_rad = 0.0174532;
-const double grav = 9.81;
-
-/** @brief struct to store offset data */
-struct offset_data {
-  double m_accum_gyro_x = 0.0;
-  double m_accum_gyro_y = 0.0;
-  double m_accum_gyro_z = 0.0;
-};
-
 /**
  * Use DMA SPI to read rate, acceleration, and magnetometer data from the
  * ADIS16448 IMU and return the robots heading relative to a starting position,
@@ -246,6 +177,74 @@ class ADIS16448_IMU : public nt::NTSendable,
   void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
+  /** @brief ADIS16448 Register Map Declaration */
+  static constexpr uint8_t FLASH_CNT = 0x00;  // Flash memory write count
+  static constexpr uint8_t XGYRO_OUT = 0x04;  // X-axis gyroscope output
+  static constexpr uint8_t YGYRO_OUT = 0x06;  // Y-axis gyroscope output
+  static constexpr uint8_t ZGYRO_OUT = 0x08;  // Z-axis gyroscope output
+  static constexpr uint8_t XACCL_OUT = 0x0A;  // X-axis accelerometer output
+  static constexpr uint8_t YACCL_OUT = 0x0C;  // Y-axis accelerometer output
+  static constexpr uint8_t ZACCL_OUT = 0x0E;  // Z-axis accelerometer output
+  static constexpr uint8_t XMAGN_OUT = 0x10;  // X-axis magnetometer output
+  static constexpr uint8_t YMAGN_OUT = 0x12;  // Y-axis magnetometer output
+  static constexpr uint8_t ZMAGN_OUT = 0x14;  // Z-axis magnetometer output
+  static constexpr uint8_t BARO_OUT =
+      0x16;  // Barometer pressure measurement, high word
+  static constexpr uint8_t TEMP_OUT = 0x18;  // Temperature output
+  static constexpr uint8_t XGYRO_OFF =
+      0x1A;  // X-axis gyroscope bias offset factor
+  static constexpr uint8_t YGYRO_OFF =
+      0x1C;  // Y-axis gyroscope bias offset factor
+  static constexpr uint8_t ZGYRO_OFF =
+      0x1E;  // Z-axis gyroscope bias offset factor
+  static constexpr uint8_t XACCL_OFF =
+      0x20;  // X-axis acceleration bias offset factor
+  static constexpr uint8_t YACCL_OFF =
+      0x22;  // Y-axis acceleration bias offset factor
+  static constexpr uint8_t ZACCL_OFF =
+      0x24;  // Z-axis acceleration bias offset factor
+  static constexpr uint8_t XMAGN_HIC =
+      0x26;  // X-axis magnetometer, hard iron factor
+  static constexpr uint8_t YMAGN_HIC =
+      0x28;  // Y-axis magnetometer, hard iron factor
+  static constexpr uint8_t ZMAGN_HIC =
+      0x2A;  // Z-axis magnetometer, hard iron factor
+  static constexpr uint8_t XMAGN_SIC =
+      0x2C;  // X-axis magnetometer, soft iron factor
+  static constexpr uint8_t YMAGN_SIC =
+      0x2E;  // Y-axis magnetometer, soft iron factor
+  static constexpr uint8_t ZMAGN_SIC =
+      0x30;  // Z-axis magnetometer, soft iron factor
+  static constexpr uint8_t GPIO_CTRL = 0x32;  // GPIO control
+  static constexpr uint8_t MSC_CTRL = 0x34;   // MISC control
+  static constexpr uint8_t SMPL_PRD =
+      0x36;  // Sample clock/Decimation filter control
+  static constexpr uint8_t SENS_AVG = 0x38;    // Digital filter control
+  static constexpr uint8_t SEQ_CNT = 0x3A;     // MAGN_OUT and BARO_OUT counter
+  static constexpr uint8_t DIAG_STAT = 0x3C;   // System status
+  static constexpr uint8_t GLOB_CMD = 0x3E;    // System command
+  static constexpr uint8_t ALM_MAG1 = 0x40;    // Alarm 1 amplitude threshold
+  static constexpr uint8_t ALM_MAG2 = 0x42;    // Alarm 2 amplitude threshold
+  static constexpr uint8_t ALM_SMPL1 = 0x44;   // Alarm 1 sample size
+  static constexpr uint8_t ALM_SMPL2 = 0x46;   // Alarm 2 sample size
+  static constexpr uint8_t ALM_CTRL = 0x48;    // Alarm control
+  static constexpr uint8_t LOT_ID1 = 0x52;     // Lot identification number
+  static constexpr uint8_t LOT_ID2 = 0x54;     // Lot identification number
+  static constexpr uint8_t PROD_ID = 0x56;     // Product identifier
+  static constexpr uint8_t SERIAL_NUM = 0x58;  // Lot-specific serial number
+
+  /** @brief ADIS16448 Static Constants */
+  static constexpr double rad_to_deg = 57.2957795;
+  static constexpr double deg_to_rad = 0.0174532;
+  static constexpr double grav = 9.81;
+
+  /** @brief struct to store offset data */
+  struct offset_data {
+    double m_accum_gyro_x = 0.0;
+    double m_accum_gyro_y = 0.0;
+    double m_accum_gyro_z = 0.0;
+  };
+
   bool SwitchToStandardSPI();
 
   bool SwitchToAutoSPI();
diff --git a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
index d515f14166..9feff5fdd1 100644
--- a/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
+++ b/wpilibc/src/main/native/include/frc/ADIS16470_IMU.h
@@ -29,143 +29,6 @@
 #include <wpi/sendable/SendableHelper.h>
 
 namespace frc {
-
-/* ADIS16470 Calibration Time Enum Class */
-enum class ADIS16470CalibrationTime {
-  _32ms = 0,
-  _64ms = 1,
-  _128ms = 2,
-  _256ms = 3,
-  _512ms = 4,
-  _1s = 5,
-  _2s = 6,
-  _4s = 7,
-  _8s = 8,
-  _16s = 9,
-  _32s = 10,
-  _64s = 11
-};
-
-/* ADIS16470 Register Map Declaration */
-static constexpr uint8_t FLASH_CNT = 0x00;  // Flash memory write count
-static constexpr uint8_t DIAG_STAT = 0x02;  // Diagnostic and operational status
-static constexpr uint8_t X_GYRO_LOW =
-    0x04;  // X-axis gyroscope output, lower word
-static constexpr uint8_t X_GYRO_OUT =
-    0x06;  // X-axis gyroscope output, upper word
-static constexpr uint8_t Y_GYRO_LOW =
-    0x08;  // Y-axis gyroscope output, lower word
-static constexpr uint8_t Y_GYRO_OUT =
-    0x0A;  // Y-axis gyroscope output, upper word
-static constexpr uint8_t Z_GYRO_LOW =
-    0x0C;  // Z-axis gyroscope output, lower word
-static constexpr uint8_t Z_GYRO_OUT =
-    0x0E;  // Z-axis gyroscope output, upper word
-static constexpr uint8_t X_ACCL_LOW =
-    0x10;  // X-axis accelerometer output, lower word
-static constexpr uint8_t X_ACCL_OUT =
-    0x12;  // X-axis accelerometer output, upper word
-static constexpr uint8_t Y_ACCL_LOW =
-    0x14;  // Y-axis accelerometer output, lower word
-static constexpr uint8_t Y_ACCL_OUT =
-    0x16;  // Y-axis accelerometer output, upper word
-static constexpr uint8_t Z_ACCL_LOW =
-    0x18;  // Z-axis accelerometer output, lower word
-static constexpr uint8_t Z_ACCL_OUT =
-    0x1A;  // Z-axis accelerometer output, upper word
-static constexpr uint8_t TEMP_OUT =
-    0x1C;  // Temperature output (internal, not calibrated)
-static constexpr uint8_t TIME_STAMP = 0x1E;  // PPS mode time stamp
-static constexpr uint8_t X_DELTANG_LOW =
-    0x24;  // X-axis delta angle output, lower word
-static constexpr uint8_t X_DELTANG_OUT =
-    0x26;  // X-axis delta angle output, upper word
-static constexpr uint8_t Y_DELTANG_LOW =
-    0x28;  // Y-axis delta angle output, lower word
-static constexpr uint8_t Y_DELTANG_OUT =
-    0x2A;  // Y-axis delta angle output, upper word
-static constexpr uint8_t Z_DELTANG_LOW =
-    0x2C;  // Z-axis delta angle output, lower word
-static constexpr uint8_t Z_DELTANG_OUT =
-    0x2E;  // Z-axis delta angle output, upper word
-static constexpr uint8_t X_DELTVEL_LOW =
-    0x30;  // X-axis delta velocity output, lower word
-static constexpr uint8_t X_DELTVEL_OUT =
-    0x32;  // X-axis delta velocity output, upper word
-static constexpr uint8_t Y_DELTVEL_LOW =
-    0x34;  // Y-axis delta velocity output, lower word
-static constexpr uint8_t Y_DELTVEL_OUT =
-    0x36;  // Y-axis delta velocity output, upper word
-static constexpr uint8_t Z_DELTVEL_LOW =
-    0x38;  // Z-axis delta velocity output, lower word
-static constexpr uint8_t Z_DELTVEL_OUT =
-    0x3A;  // Z-axis delta velocity output, upper word
-static constexpr uint8_t XG_BIAS_LOW =
-    0x40;  // X-axis gyroscope bias offset correction, lower word
-static constexpr uint8_t XG_BIAS_HIGH =
-    0x42;  // X-axis gyroscope bias offset correction, upper word
-static constexpr uint8_t YG_BIAS_LOW =
-    0x44;  // Y-axis gyroscope bias offset correction, lower word
-static constexpr uint8_t YG_BIAS_HIGH =
-    0x46;  // Y-axis gyroscope bias offset correction, upper word
-static constexpr uint8_t ZG_BIAS_LOW =
-    0x48;  // Z-axis gyroscope bias offset correction, lower word
-static constexpr uint8_t ZG_BIAS_HIGH =
-    0x4A;  // Z-axis gyroscope bias offset correction, upper word
-static constexpr uint8_t XA_BIAS_LOW =
-    0x4C;  // X-axis accelerometer bias offset correction, lower word
-static constexpr uint8_t XA_BIAS_HIGH =
-    0x4E;  // X-axis accelerometer bias offset correction, upper word
-static constexpr uint8_t YA_BIAS_LOW =
-    0x50;  // Y-axis accelerometer bias offset correction, lower word
-static constexpr uint8_t YA_BIAS_HIGH =
-    0x52;  // Y-axis accelerometer bias offset correction, upper word
-static constexpr uint8_t ZA_BIAS_LOW =
-    0x54;  // Z-axis accelerometer bias offset correction, lower word
-static constexpr uint8_t ZA_BIAS_HIGH =
-    0x56;  // Z-axis accelerometer bias offset correction, upper word
-static constexpr uint8_t FILT_CTRL = 0x5C;  // Filter control
-static constexpr uint8_t MSC_CTRL = 0x60;   // Miscellaneous control
-static constexpr uint8_t UP_SCALE = 0x62;   // Clock scale factor, PPS mode
-static constexpr uint8_t DEC_RATE =
-    0x64;  // Decimation rate control (output data rate)
-static constexpr uint8_t NULL_CNFG = 0x66;  // Auto-null configuration control
-static constexpr uint8_t GLOB_CMD = 0x68;   // Global commands
-static constexpr uint8_t FIRM_REV = 0x6C;   // Firmware revision
-static constexpr uint8_t FIRM_DM =
-    0x6E;  // Firmware revision date, month and day
-static constexpr uint8_t FIRM_Y = 0x70;   // Firmware revision date, year
-static constexpr uint8_t PROD_ID = 0x72;  // Product identification
-static constexpr uint8_t SERIAL_NUM =
-    0x74;  // Serial number (relative to assembly lot)
-static constexpr uint8_t USER_SCR1 = 0x76;     // User scratch register 1
-static constexpr uint8_t USER_SCR2 = 0x78;     // User scratch register 2
-static constexpr uint8_t USER_SCR3 = 0x7A;     // User scratch register 3
-static constexpr uint8_t FLSHCNT_LOW = 0x7C;   // Flash update count, lower word
-static constexpr uint8_t FLSHCNT_HIGH = 0x7E;  // Flash update count, upper word
-
-/* ADIS16470 Auto SPI Data Packets */
-static constexpr uint8_t m_autospi_x_packet[16] = {
-    X_DELTANG_OUT, FLASH_CNT, X_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
-    Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
-    Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
-
-static constexpr uint8_t m_autospi_y_packet[16] = {
-    Y_DELTANG_OUT, FLASH_CNT, Y_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
-    Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
-    Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
-
-static constexpr uint8_t m_autospi_z_packet[16] = {
-    Z_DELTANG_OUT, FLASH_CNT, Z_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
-    Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
-    Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
-
-/* ADIS16470 Constants */
-const double delta_angle_sf = 2160.0 / 2147483648.0; /* 2160 / (2^31) */
-const double rad_to_deg = 57.2957795;
-const double deg_to_rad = 0.0174532;
-const double grav = 9.81;
-
 /**
  * Use DMA SPI to read rate and acceleration data from the ADIS16470 IMU and
  * return the robot's heading relative to a starting position and instant
@@ -185,6 +48,22 @@ const double grav = 9.81;
 class ADIS16470_IMU : public nt::NTSendable,
                       public wpi::SendableHelper<ADIS16470_IMU> {
  public:
+  /* ADIS16470 Calibration Time Enum Class */
+  enum class CalibrationTime {
+    _32ms = 0,
+    _64ms = 1,
+    _128ms = 2,
+    _256ms = 3,
+    _512ms = 4,
+    _1s = 5,
+    _2s = 6,
+    _4s = 7,
+    _8s = 8,
+    _16s = 9,
+    _32s = 10,
+    _64s = 11
+  };
+
   enum IMUAxis { kX, kY, kZ };
 
   /**
@@ -206,7 +85,7 @@ class ADIS16470_IMU : public nt::NTSendable,
    * @param cal_time The calibration time that should be used on start-up.
    */
   explicit ADIS16470_IMU(IMUAxis yaw_axis, SPI::Port port,
-                         ADIS16470CalibrationTime cal_time);
+                         CalibrationTime cal_time);
 
   /**
    * @brief Destructor. Kills the acquisiton loop and closes the SPI peripheral.
@@ -228,7 +107,7 @@ class ADIS16470_IMU : public nt::NTSendable,
    * @brief Switches the active SPI port to standard SPI mode, writes a new
    * value to the NULL_CNFG register in the IMU, and re-enables auto SPI.
    */
-  int ConfigCalTime(ADIS16470CalibrationTime new_cal_time);
+  int ConfigCalTime(CalibrationTime new_cal_time);
 
   /**
    * @brief Resets (zeros) the xgyro, ygyro, and zgyro angle integrations.
@@ -285,6 +164,130 @@ class ADIS16470_IMU : public nt::NTSendable,
   void InitSendable(nt::NTSendableBuilder& builder) override;
 
  private:
+  /* ADIS16470 Register Map Declaration */
+  static constexpr uint8_t FLASH_CNT = 0x00;  // Flash memory write count
+  static constexpr uint8_t DIAG_STAT =
+      0x02;  // Diagnostic and operational status
+  static constexpr uint8_t X_GYRO_LOW =
+      0x04;  // X-axis gyroscope output, lower word
+  static constexpr uint8_t X_GYRO_OUT =
+      0x06;  // X-axis gyroscope output, upper word
+  static constexpr uint8_t Y_GYRO_LOW =
+      0x08;  // Y-axis gyroscope output, lower word
+  static constexpr uint8_t Y_GYRO_OUT =
+      0x0A;  // Y-axis gyroscope output, upper word
+  static constexpr uint8_t Z_GYRO_LOW =
+      0x0C;  // Z-axis gyroscope output, lower word
+  static constexpr uint8_t Z_GYRO_OUT =
+      0x0E;  // Z-axis gyroscope output, upper word
+  static constexpr uint8_t X_ACCL_LOW =
+      0x10;  // X-axis accelerometer output, lower word
+  static constexpr uint8_t X_ACCL_OUT =
+      0x12;  // X-axis accelerometer output, upper word
+  static constexpr uint8_t Y_ACCL_LOW =
+      0x14;  // Y-axis accelerometer output, lower word
+  static constexpr uint8_t Y_ACCL_OUT =
+      0x16;  // Y-axis accelerometer output, upper word
+  static constexpr uint8_t Z_ACCL_LOW =
+      0x18;  // Z-axis accelerometer output, lower word
+  static constexpr uint8_t Z_ACCL_OUT =
+      0x1A;  // Z-axis accelerometer output, upper word
+  static constexpr uint8_t TEMP_OUT =
+      0x1C;  // Temperature output (internal, not calibrated)
+  static constexpr uint8_t TIME_STAMP = 0x1E;  // PPS mode time stamp
+  static constexpr uint8_t X_DELTANG_LOW =
+      0x24;  // X-axis delta angle output, lower word
+  static constexpr uint8_t X_DELTANG_OUT =
+      0x26;  // X-axis delta angle output, upper word
+  static constexpr uint8_t Y_DELTANG_LOW =
+      0x28;  // Y-axis delta angle output, lower word
+  static constexpr uint8_t Y_DELTANG_OUT =
+      0x2A;  // Y-axis delta angle output, upper word
+  static constexpr uint8_t Z_DELTANG_LOW =
+      0x2C;  // Z-axis delta angle output, lower word
+  static constexpr uint8_t Z_DELTANG_OUT =
+      0x2E;  // Z-axis delta angle output, upper word
+  static constexpr uint8_t X_DELTVEL_LOW =
+      0x30;  // X-axis delta velocity output, lower word
+  static constexpr uint8_t X_DELTVEL_OUT =
+      0x32;  // X-axis delta velocity output, upper word
+  static constexpr uint8_t Y_DELTVEL_LOW =
+      0x34;  // Y-axis delta velocity output, lower word
+  static constexpr uint8_t Y_DELTVEL_OUT =
+      0x36;  // Y-axis delta velocity output, upper word
+  static constexpr uint8_t Z_DELTVEL_LOW =
+      0x38;  // Z-axis delta velocity output, lower word
+  static constexpr uint8_t Z_DELTVEL_OUT =
+      0x3A;  // Z-axis delta velocity output, upper word
+  static constexpr uint8_t XG_BIAS_LOW =
+      0x40;  // X-axis gyroscope bias offset correction, lower word
+  static constexpr uint8_t XG_BIAS_HIGH =
+      0x42;  // X-axis gyroscope bias offset correction, upper word
+  static constexpr uint8_t YG_BIAS_LOW =
+      0x44;  // Y-axis gyroscope bias offset correction, lower word
+  static constexpr uint8_t YG_BIAS_HIGH =
+      0x46;  // Y-axis gyroscope bias offset correction, upper word
+  static constexpr uint8_t ZG_BIAS_LOW =
+      0x48;  // Z-axis gyroscope bias offset correction, lower word
+  static constexpr uint8_t ZG_BIAS_HIGH =
+      0x4A;  // Z-axis gyroscope bias offset correction, upper word
+  static constexpr uint8_t XA_BIAS_LOW =
+      0x4C;  // X-axis accelerometer bias offset correction, lower word
+  static constexpr uint8_t XA_BIAS_HIGH =
+      0x4E;  // X-axis accelerometer bias offset correction, upper word
+  static constexpr uint8_t YA_BIAS_LOW =
+      0x50;  // Y-axis accelerometer bias offset correction, lower word
+  static constexpr uint8_t YA_BIAS_HIGH =
+      0x52;  // Y-axis accelerometer bias offset correction, upper word
+  static constexpr uint8_t ZA_BIAS_LOW =
+      0x54;  // Z-axis accelerometer bias offset correction, lower word
+  static constexpr uint8_t ZA_BIAS_HIGH =
+      0x56;  // Z-axis accelerometer bias offset correction, upper word
+  static constexpr uint8_t FILT_CTRL = 0x5C;  // Filter control
+  static constexpr uint8_t MSC_CTRL = 0x60;   // Miscellaneous control
+  static constexpr uint8_t UP_SCALE = 0x62;   // Clock scale factor, PPS mode
+  static constexpr uint8_t DEC_RATE =
+      0x64;  // Decimation rate control (output data rate)
+  static constexpr uint8_t NULL_CNFG = 0x66;  // Auto-null configuration control
+  static constexpr uint8_t GLOB_CMD = 0x68;   // Global commands
+  static constexpr uint8_t FIRM_REV = 0x6C;   // Firmware revision
+  static constexpr uint8_t FIRM_DM =
+      0x6E;  // Firmware revision date, month and day
+  static constexpr uint8_t FIRM_Y = 0x70;   // Firmware revision date, year
+  static constexpr uint8_t PROD_ID = 0x72;  // Product identification
+  static constexpr uint8_t SERIAL_NUM =
+      0x74;  // Serial number (relative to assembly lot)
+  static constexpr uint8_t USER_SCR1 = 0x76;  // User scratch register 1
+  static constexpr uint8_t USER_SCR2 = 0x78;  // User scratch register 2
+  static constexpr uint8_t USER_SCR3 = 0x7A;  // User scratch register 3
+  static constexpr uint8_t FLSHCNT_LOW =
+      0x7C;  // Flash update count, lower word
+  static constexpr uint8_t FLSHCNT_HIGH =
+      0x7E;  // Flash update count, upper word
+
+  /* ADIS16470 Auto SPI Data Packets */
+  static constexpr uint8_t m_autospi_x_packet[16] = {
+      X_DELTANG_OUT, FLASH_CNT, X_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+      Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+      Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
+
+  static constexpr uint8_t m_autospi_y_packet[16] = {
+      Y_DELTANG_OUT, FLASH_CNT, Y_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+      Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+      Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
+
+  static constexpr uint8_t m_autospi_z_packet[16] = {
+      Z_DELTANG_OUT, FLASH_CNT, Z_DELTANG_LOW, FLASH_CNT, X_GYRO_OUT, FLASH_CNT,
+      Y_GYRO_OUT,    FLASH_CNT, Z_GYRO_OUT,    FLASH_CNT, X_ACCL_OUT, FLASH_CNT,
+      Y_ACCL_OUT,    FLASH_CNT, Z_ACCL_OUT,    FLASH_CNT};
+
+  /* ADIS16470 Constants */
+  static constexpr double delta_angle_sf =
+      2160.0 / 2147483648.0; /* 2160 / (2^31) */
+  static constexpr double rad_to_deg = 57.2957795;
+  static constexpr double deg_to_rad = 0.0174532;
+  static constexpr double grav = 9.81;
+
   /**
    * @brief Switches to standard SPI operation. Primarily used when exiting auto
    * SPI mode.