Lines Matching defs:we
79 * disturbance which we do not want to update into the fused frame.
96 * we reject it as invalid due to alignment of the vectors.
284 // Average all the values we collected so far
324 // ignore acceleration data if we're close to free-fall
363 // Also reject if too small since we will get ill-defined (zero mag)
381 // If we have created an orthogonal magnetic field successfully,
393 // P needs to stay positive semidefinite or the fusion diverges. When we
394 // detect divergence, we reset the fusion.
433 vec3_t we = w - b;
435 if (length(we) < WVEC_EPS) {
436 we = (we[0]>0.f)?WVEC_EPS:-WVEC_EPS;
438 // q(k+1) = O(we)*q(k)
466 const mat33_t wx(crossMatrix(we, 0));
468 const float lwedT = length(we)*dT;
470 const float ilwe = 1.f/length(we);
474 const vec3_t psi(sinf(hlwedT)*ilwe*we);
