Lines Matching refs:dT
118 static void updateDt(struct Fusion *fusion, float dT) {
119 if (fabsf(fusion->mPredictDt - dT) > DELTA_TIME_MARGIN) {
120 float dT2 = dT * dT;
121 float dT3 = dT2 * dT;
123 float q00 = fusion->param.gyro_var * dT +
125 float q11 = fusion->param.gyro_bias_var * dT;
133 fusion->mPredictDt = dT;
137 static int fusion_init_complete(struct Fusion *fusion, int what, const struct Vec3 *d, float dT) {
146 updateDt(fusion, dT);
174 updateDt(fusion, dT);
177 vec3ScalarMul(&scaledD, dT);
262 const float dT = fusion->mPredictDt;
274 initDiagonalMatrix(&I33dT, dT);
288 float lwedT = norm_we * dT;
389 void fusionHandleGyro(struct Fusion *fusion, const struct Vec3 *w, float dT) {
390 if (!fusion_init_complete(fusion, GYRO, w, dT)) {
394 updateDt(fusion, dT);
513 int fusionHandleAcc(struct Fusion *fusion, const struct Vec3 *a, float dT) {
514 if (!fusion_init_complete(fusion, ACC, a, dT)) {
536 updateDt(fusion, dT);
544 (fusion->fake_mag_decimation += dT) > FAKE_MAG_INTERVAL) {
590 int fusionHandleMag(struct Fusion *fusion, const struct Vec3 *m, float dT) {
591 if (!fusion_init_complete(fusion, MAG, m, 0.0f /* dT */)) {
643 fusion->trustedMagDuration -= dT;
