Searched refs:dT (Results 1 – 3 of 3) sorted by relevance
| /device/google/contexthub/firmware/src/algos/ |
| D | fusion.c | 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()
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| /device/google/contexthub/firmware/inc/algos/ |
| D | fusion.h | 66 void fusionHandleGyro(struct Fusion *fusion, const struct Vec3 *w, float dT);
67 int fusionHandleAcc(struct Fusion *fusion, const struct Vec3 *a, float dT);
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| /device/google/contexthub/firmware/src/drivers/orientation/ |
| D | orientation.c | 400 float dT; in drainSamples() local
427 dT = floatFromUint64(mTask.ResamplePeriodNs[which]) * 1e-9f; in drainSamples()
433 fusionHandleAcc(&mTask.fusion, &a, dT); in drainSamples()
436 fusionHandleAcc(&mTask.game, &a, dT); in drainSamples()
448 fusionHandleGyro(&mTask.fusion, &w, dT); in drainSamples()
451 fusionHandleGyro(&mTask.game, &w, dT); in drainSamples()
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