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/hal_nxp-3.5.0/mcux/mcux-sdk/middleware/issdk/algorithms/sensorfusion/sources/
Dfusion.c1029 float fgMi[3]; // a priori estimate of the gravity vector (sensor frame) in fRun_9DOF_GBY_KALMAN() local
1136 fgMi[CHX] = fRMi[CHX][CHZ]; in fRun_9DOF_GBY_KALMAN()
1137 fgMi[CHY] = fRMi[CHY][CHZ]; in fRun_9DOF_GBY_KALMAN()
1138 fgMi[CHZ] = fRMi[CHZ][CHZ]; in fRun_9DOF_GBY_KALMAN()
1143 fgMi[CHX] = -fRMi[CHX][CHZ]; in fRun_9DOF_GBY_KALMAN()
1144 fgMi[CHY] = -fRMi[CHY][CHZ]; in fRun_9DOF_GBY_KALMAN()
1145 fgMi[CHZ] = -fRMi[CHZ][CHZ]; in fRun_9DOF_GBY_KALMAN()
1150 fveqconjgquq(&ftmpq, ftmpA3x1, fgMi); in fRun_9DOF_GBY_KALMAN()
1340 fveqRu(fgPl, ftmpA3x3, fgMi, 0); in fRun_9DOF_GBY_KALMAN()