Lines Matching refs:dT
113 static void updateDt(struct Fusion *fusion, float dT) { in updateDt() argument
114 if (fabsf(fusion->mPredictDt - dT) > DELTA_TIME_MARGIN) { in updateDt()
115 float dT2 = dT * dT; in updateDt()
116 float dT3 = dT2 * dT; in updateDt()
118 float q00 = fusion->param.gyro_var * dT + in updateDt()
120 float q11 = fusion->param.gyro_bias_var * dT; in updateDt()
128 fusion->mPredictDt = dT; in updateDt()
132 static int fusion_init_complete(struct Fusion *fusion, int what, const struct Vec3 *d, float dT) { in fusion_init_complete() argument
141 updateDt(fusion, dT); in fusion_init_complete()
169 updateDt(fusion, dT); in fusion_init_complete()
172 vec3ScalarMul(&scaledD, dT); in fusion_init_complete()
255 const float dT = fusion->mPredictDt; in fusionPredict() local
267 initDiagonalMatrix(&I33dT, dT); in fusionPredict()
281 float lwedT = norm_we * dT; in fusionPredict()
382 void fusionHandleGyro(struct Fusion *fusion, const struct Vec3 *w, float dT) { in fusionHandleGyro() argument
383 if (!fusion_init_complete(fusion, GYRO, w, dT)) { in fusionHandleGyro()
387 updateDt(fusion, dT); in fusionHandleGyro()
506 int fusionHandleAcc(struct Fusion *fusion, const struct Vec3 *a, float dT) { in fusionHandleAcc() argument
507 if (!fusion_init_complete(fusion, ACC, a, dT)) { in fusionHandleAcc()
529 updateDt(fusion, dT); in fusionHandleAcc()
537 (fusion->fake_mag_decimation += dT) > FAKE_MAG_INTERVAL) { in fusionHandleAcc()