Lines Matching defs:rh
58 static struct results_t rh;
67 rh.status |= INV_6_AXIS_QUAT_SET;
68 memcpy(&rh.gam_quat, quat, sizeof(rh.gam_quat));
69 rh.gam_timestamp = timestamp;
79 // rh.status |= INV_6_AXIS_QUAT_SET;
80 memcpy(&rh.accel_quat, quat, sizeof(rh.accel_quat));
81 rh.geomag_timestamp = timestamp;
90 rh.status |= INV_COMPASS_CORRECTION_SET;
91 memcpy(rh.compass_correction, data, sizeof(rh.compass_correction));
92 rh.nav_timestamp = timestamp;
102 rh.status |= INV_GEOMAGNETIC_CORRECTION_SET;
103 memcpy(rh.geomag_compass_correction, data, sizeof(rh.geomag_compass_correction));
104 rh.geomag_timestamp = timestamp;
114 memcpy(data, rh.compass_correction, sizeof(rh.compass_correction));
115 *timestamp = rh.nav_timestamp;
125 memcpy(data, rh.geomag_compass_correction, sizeof(rh.geomag_compass_correction));
126 *timestamp = rh.geomag_timestamp;
134 return rh.large_mag_field;
142 rh.large_mag_field = state;
150 return rh.acc_state;
158 rh.acc_state = state;
168 *cntr = rh.motion_state_counter;
169 return rh.motion_state;
179 if (state == rh.motion_state) {
181 rh.motion_state_counter++;
183 rh.motion_state_counter = 0;
187 rh.motion_state_counter = 0;
188 rh.motion_state = state;
204 memcpy(rh.local_field, data, sizeof(rh.local_field));
214 memcpy(data, rh.local_field, sizeof(rh.local_field));
223 memcpy(rh.mag_scale, data, sizeof(rh.mag_scale));
232 memcpy(data, rh.mag_scale, sizeof(rh.mag_scale));
242 inv_q29_mult(rh.nav_quat[1], rh.nav_quat[3]) - inv_q29_mult(rh.nav_quat[2], rh.nav_quat[0]);
244 inv_q29_mult(rh.nav_quat[2], rh.nav_quat[3]) + inv_q29_mult(rh.nav_quat[1], rh.nav_quat[0]);
246 (inv_q29_mult(rh.nav_quat[3], rh.nav_quat[3]) + inv_q29_mult(rh.nav_quat[0], rh.nav_quat[0])) -
258 memcpy(data, rh.accel_quat, sizeof(rh.accel_quat));
264 inv_q29_mult(rh.gam_quat[1], rh.gam_quat[3]) - inv_q29_mult(rh.gam_quat[2], rh.gam_quat[0]);
266 inv_q29_mult(rh.gam_quat[2], rh.gam_quat[3]) + inv_q29_mult(rh.gam_quat[1], rh.gam_quat[0]);
268 (inv_q29_mult(rh.gam_quat[3], rh.gam_quat[3]) + inv_q29_mult(rh.gam_quat[0], rh.gam_quat[0])) -
278 memcpy(data, rh.gam_quat, sizeof(rh.gam_quat));
288 if (rh.status & (INV_COMPASS_CORRECTION_SET | INV_6_AXIS_QUAT_SET)) {
289 inv_q_mult(rh.compass_correction, rh.gam_quat, rh.nav_quat);
290 rh.status &= ~(INV_COMPASS_CORRECTION_SET | INV_6_AXIS_QUAT_SET);
292 memcpy(data, rh.nav_quat, sizeof(rh.nav_quat));
302 if (rh.status & INV_GEOMAGNETIC_CORRECTION_SET) {
303 inv_q_mult(rh.geomag_compass_correction, rh.accel_quat, rh.geomag_quat);
304 rh.status &= ~(INV_GEOMAGNETIC_CORRECTION_SET);
306 memcpy(data, rh.geomag_quat, sizeof(rh.geomag_quat));
307 *timestamp = rh.geomag_timestamp;
353 rh.sensor = sensor_cal;
375 memset(&rh, 0, sizeof(rh));
376 rh.mag_scale[0] = 1L<<30;
377 rh.mag_scale[1] = 1L<<30;
378 rh.mag_scale[2] = 1L<<30;
379 rh.compass_correction[0] = 1L<<30;
380 rh.gam_quat[0] = 1L<<30;
381 rh.nav_quat[0] = 1L<<30;
382 rh.geomag_quat[0] = 1L<<30;
383 rh.accel_quat[0] = 1L<<30;
384 rh.geomag_compass_correction[0] = 1L<<30;
385 rh.quat_confidence_interval = (float)M_PI;
409 return rh.got_accel_bias;
418 rh.got_accel_bias = state;
427 return rh.got_compass_bias;
436 rh.got_compass_bias = state;
444 rh.compass_state = state;
452 return rh.compass_state;
461 memcpy(rh.compass_bias_error, bias_error, sizeof(rh.compass_bias_error));
469 memcpy(bias_error, rh.compass_bias_error, sizeof(rh.compass_bias_error));
565 rh.quat_confidence_interval = ci;
573 return rh.quat_confidence_interval;
581 rh.geo_mag_confidence_interval = ci;
589 return rh.geo_mag_confidence_interval;
