Lines Matching refs:inv_obj
228 data[0] = inv_obj.ang_v_body[0];
229 data[1] = inv_obj.ang_v_body[1];
230 data[2] = inv_obj.ang_v_body[2];
461 data[0] = (long)(inv_obj.x_gyro_coef[1] * 65536.0f);
462 data[1] = (long)(inv_obj.y_gyro_coef[1] * 65536.0f);
463 data[2] = (long)(inv_obj.z_gyro_coef[1] * 65536.0f);
465 data[0] = inv_obj.temp_slope[0];
466 data[1] = inv_obj.temp_slope[1];
467 data[2] = inv_obj.temp_slope[2];
495 data[0] = inv_obj.gyro_bias[0];
496 data[1] = inv_obj.gyro_bias[1];
497 data[2] = inv_obj.gyro_bias[2];
525 data[0] = inv_obj.accel_bias[0];
526 data[1] = inv_obj.accel_bias[1];
527 data[2] = inv_obj.accel_bias[2];
557 inv_obj.compass_bias[0] +
558 (long)((long long)inv_obj.init_compass_bias[0] * inv_obj.compass_sens /
561 inv_obj.compass_bias[1] +
562 (long)((long long)inv_obj.init_compass_bias[1] * inv_obj.compass_sens /
565 inv_obj.compass_bias[2] +
566 (long)((long long)inv_obj.init_compass_bias[2] * inv_obj.compass_sens /
619 data[0] = inv_obj.compass_sensor_data[0];
620 data[1] = inv_obj.compass_sensor_data[1];
621 data[2] = inv_obj.compass_sensor_data[2];
651 data[0] = inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0];
652 data[1] = inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1];
653 data[2] = inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2];
682 data[0] = inv_obj.pressure;
761 data[0] = inv_obj.gyro_cal[0];
762 data[1] = inv_obj.gyro_cal[1];
763 data[2] = inv_obj.gyro_cal[2];
764 data[3] = inv_obj.gyro_cal[3];
765 data[4] = inv_obj.gyro_cal[4];
766 data[5] = inv_obj.gyro_cal[5];
767 data[6] = inv_obj.gyro_cal[6];
768 data[7] = inv_obj.gyro_cal[7];
769 data[8] = inv_obj.gyro_cal[8];
806 data[0] = inv_obj.accel_cal[0];
807 data[1] = inv_obj.accel_cal[1];
808 data[2] = inv_obj.accel_cal[2];
809 data[3] = inv_obj.accel_cal[3];
810 data[4] = inv_obj.accel_cal[4];
811 data[5] = inv_obj.accel_cal[5];
812 data[6] = inv_obj.accel_cal[6];
813 data[7] = inv_obj.accel_cal[7];
814 data[8] = inv_obj.accel_cal[8];
844 data[0] = inv_obj.compass_cal[0];
845 data[1] = inv_obj.compass_cal[1];
846 data[2] = inv_obj.compass_cal[2];
847 data[3] = inv_obj.compass_cal[3];
848 data[4] = inv_obj.compass_cal[4];
849 data[5] = inv_obj.compass_cal[5];
850 data[6] = inv_obj.compass_cal[6];
851 data[7] = inv_obj.compass_cal[7];
852 data[8] = inv_obj.compass_cal[8];
881 if (inv_obj.large_field == 0) {
882 data[0] = inv_obj.compass_bias_error[0];
883 data[1] = inv_obj.compass_bias_error[1];
884 data[2] = inv_obj.compass_bias_error[2];
919 data[0] = inv_obj.compass_scale[0];
920 data[1] = inv_obj.compass_scale[1];
921 data[2] = inv_obj.compass_scale[2];
951 data[0] = inv_obj.local_field[0];
952 data[1] = inv_obj.local_field[1];
953 data[2] = inv_obj.local_field[2];
1291 data[0] = (float)inv_obj.gyro_cal[0] / 1073741824.0f;
1292 data[1] = (float)inv_obj.gyro_cal[1] / 1073741824.0f;
1293 data[2] = (float)inv_obj.gyro_cal[2] / 1073741824.0f;
1294 data[3] = (float)inv_obj.gyro_cal[3] / 1073741824.0f;
1295 data[4] = (float)inv_obj.gyro_cal[4] / 1073741824.0f;
1296 data[5] = (float)inv_obj.gyro_cal[5] / 1073741824.0f;
1297 data[6] = (float)inv_obj.gyro_cal[6] / 1073741824.0f;
1298 data[7] = (float)inv_obj.gyro_cal[7] / 1073741824.0f;
1299 data[8] = (float)inv_obj.gyro_cal[8] / 1073741824.0f;
1337 data[0] = (float)inv_obj.accel_cal[0] / 1073741824.0f;
1338 data[1] = (float)inv_obj.accel_cal[1] / 1073741824.0f;
1339 data[2] = (float)inv_obj.accel_cal[2] / 1073741824.0f;
1340 data[3] = (float)inv_obj.accel_cal[3] / 1073741824.0f;
1341 data[4] = (float)inv_obj.accel_cal[4] / 1073741824.0f;
1342 data[5] = (float)inv_obj.accel_cal[5] / 1073741824.0f;
1343 data[6] = (float)inv_obj.accel_cal[6] / 1073741824.0f;
1344 data[7] = (float)inv_obj.accel_cal[7] / 1073741824.0f;
1345 data[8] = (float)inv_obj.accel_cal[8] / 1073741824.0f;
1381 data[0] = (float)inv_obj.compass_cal[0] / 1073741824.0f;
1382 data[1] = (float)inv_obj.compass_cal[1] / 1073741824.0f;
1383 data[2] = (float)inv_obj.compass_cal[2] / 1073741824.0f;
1384 data[3] = (float)inv_obj.compass_cal[3] / 1073741824.0f;
1385 data[4] = (float)inv_obj.compass_cal[4] / 1073741824.0f;
1386 data[5] = (float)inv_obj.compass_cal[5] / 1073741824.0f;
1387 data[6] = (float)inv_obj.compass_cal[6] / 1073741824.0f;
1388 data[7] = (float)inv_obj.compass_cal[7] / 1073741824.0f;
1389 data[8] = (float)inv_obj.compass_cal[8] / 1073741824.0f;
1426 data[0] = inv_obj.x_gyro_coef[1];
1427 data[1] = inv_obj.y_gyro_coef[1];
1428 data[2] = inv_obj.z_gyro_coef[1];
1430 data[0] = (float)inv_obj.temp_slope[0] / 65536.0f;
1431 data[1] = (float)inv_obj.temp_slope[1] / 65536.0f;
1432 data[2] = (float)inv_obj.temp_slope[2] / 65536.0f;
1465 data[0] = (float)inv_obj.gyro_bias[0] / 65536.0f;
1466 data[1] = (float)inv_obj.gyro_bias[1] / 65536.0f;
1467 data[2] = (float)inv_obj.gyro_bias[2] / 65536.0f;
1499 data[0] = (float)inv_obj.accel_bias[0] / 65536.0f;
1500 data[1] = (float)inv_obj.accel_bias[1] / 65536.0f;
1501 data[2] = (float)inv_obj.accel_bias[2] / 65536.0f;
1535 (inv_obj.compass_bias[0] +
1536 (long)((long long)inv_obj.init_compass_bias[0] *
1537 inv_obj.compass_sens / 16384))) / 65536.0f;
1540 (inv_obj.compass_bias[1] +
1541 (long)((long long)inv_obj.init_compass_bias[1] *
1542 inv_obj.compass_sens / 16384))) / 65536.0f;
1545 (inv_obj.compass_bias[2] +
1546 (long)((long long)inv_obj.init_compass_bias[2] *
1547 inv_obj.compass_sens / 16384))) / 65536.0f;
1593 data[6] = (float)inv_obj.compass_sensor_data[0];
1594 data[7] = (float)inv_obj.compass_sensor_data[1];
1595 data[8] = (float)inv_obj.compass_sensor_data[2];
1822 (float)(inv_obj.compass_sensor_data[0] + inv_obj.init_compass_bias[0]);
1824 (float)(inv_obj.compass_sensor_data[1] + inv_obj.init_compass_bias[1]);
1826 (float)(inv_obj.compass_sensor_data[2] + inv_obj.init_compass_bias[2]);
1858 data[0] = (float)inv_obj.compass_calibrated_data[0] / 65536.0f;
1859 data[1] = (float)inv_obj.compass_calibrated_data[1] / 65536.0f;
1860 data[2] = (float)inv_obj.compass_calibrated_data[2] / 65536.0f;
1891 data[0] = (float)inv_obj.pressure;
1976 if (inv_obj.large_field == 0) {
1977 data[0] = (float)inv_obj.compass_bias_error[0];
1978 data[1] = (float)inv_obj.compass_bias_error[1];
1979 data[2] = (float)inv_obj.compass_bias_error[2];
2016 data[0] = (float)inv_obj.compass_scale[0] / 65536.0f;
2017 data[1] = (float)inv_obj.compass_scale[1] / 65536.0f;
2018 data[2] = (float)inv_obj.compass_scale[2] / 65536.0f;
2050 data[0] = (float)inv_obj.local_field[0] / 65536.0f;
2051 data[1] = (float)inv_obj.local_field[1] / 65536.0f;
2052 data[2] = (float)inv_obj.local_field[2] / 65536.0f;
2084 data[0] = (float)inv_obj.relative_quat[0] / 1073741824.0f;
2085 data[1] = (float)inv_obj.relative_quat[1] / 1073741824.0f;
2086 data[2] = (float)inv_obj.relative_quat[2] / 1073741824.0f;
2087 data[3] = (float)inv_obj.relative_quat[3] / 1073741824.0f;
2109 *accuracy = inv_obj.compass_accuracy;
2144 inv_obj.gyro_bias[i] = data[i];
2145 biasTmp = -inv_obj.gyro_bias[i] / sf;
2185 inv_obj.accel_bias[i] = data[i];
2186 if (inv_obj.accel_sens != 0 && mldl_cfg && mldl_cfg->pdata) {
2188 inv_obj.scaled_accel_bias[i] = 0;
2190 inv_obj.scaled_accel_bias[i] +=
2194 tmp64 = (long long)inv_obj.scaled_accel_bias[i] << 13;
2195 biasTmp = (long)(tmp64 / inv_obj.accel_sens);
2245 inv_obj.init_compass_bias[0] = 0;
2246 inv_obj.init_compass_bias[1] = 0;
2247 inv_obj.init_compass_bias[2] = 0;
2248 inv_obj.got_compass_bias = 1;
2249 inv_obj.got_init_compass_bias = 1;
2250 inv_obj.compass_state = SF_STARTUP_SETTLE;
2287 inv_obj.factory_temp_comp = 1;
2288 inv_obj.temp_slope[0] = data[0];
2289 inv_obj.temp_slope[1] = data[1];
2290 inv_obj.temp_slope[2] = data[2];
2292 sf = -inv_obj.temp_slope[i] / 1118;
2328 inv_obj.local_field[0] = data[0];
2329 inv_obj.local_field[1] = data[1];
2330 inv_obj.local_field[2] = data[2];
2331 inv_obj.new_local_field = 1;
2361 inv_obj.compass_scale[0] = data[0];
2362 inv_obj.compass_scale[1] = data[1];
2363 inv_obj.compass_scale[2] = data[2];
