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fusion_types.h
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1 /*
2 * fusion_types.h
3 *
4 * Created on: Nov 25, 2014
5 * Author: B37804
6 */
7
8 #ifndef FUSION_TYPES_H_
9 #define FUSION_TYPES_H_
10
11 #include "matrix.h"
12
13 // coordinate system for the build
14 #define NED 0 // identifier for NED angle output
15 #define ANDROID 1 // identifier for Andro
16 #define WIN8 2 // identifier for Windows 8 angle output
17 // type definitions
18
19 // the quaternion type to be transmitted
20 typedef enum quaternion {Q3, Q3M, Q3G, Q6MA, Q6AG, Q9} quaternion_type;
21
22
23 // structure definitions
24
25
26 // quaternion structure definition
27 struct fquaternion
28 {
29 float q0; // scalar component
30 float q1; // x vector component
31 float q2; // y vector component
32 float q3; // z vector component
33 };
34
35
36 // 1DOF pressure state vector structure
37 struct SV_1DOF_P_BASIC
38 {
39 float fLPHp; // low pass filtered height (m)
40 float fLPTp; // low pass filtered temperature (C);
41 float fdeltat; // time interval (s)
42 float flpf; // low pass filter coefficient
43 int32 systick; // systick timer
44 int8 resetflag; // flag to request re-initialization on next pass
45 };
46
47 // 3DOF basic accelerometer state vector structure
48 struct SV_3DOF_G_BASIC
49 {
50 // start: elements common to all motion state vectors
51 // Euler angles
52 float fLPPhi; // low pass roll (deg)
53 float fLPThe; // low pass pitch (deg)
54 float fLPPsi; // low pass yaw (deg)
55 float fLPRho; // low pass compass (deg)
56 float fLPChi; // low pass tilt from vertical (deg)
57 // orientation matrix, quaternion and rotation vector
58 float fLPR[3][3]; // low pass filtered orientation matrix
59 struct fquaternion fLPq; // low pass filtered orientation quaternion
60 float fLPRVec[3]; // rotation vector
61 // angular velocity
62 float fOmega[3]; // angular velocity (deg/s)
63 // systick timer for benchmarking
64 int32 systick; // systick timer
65 // end: elements common to all motion state vectors
66 float fR[3][3]; // unfiltered orientation matrix
67 struct fquaternion fq; // unfiltered orientation quaternion
68 float fdeltat; // time interval (s)
69 float flpf; // low pass filter coefficient
70 int8 resetflag; // flag to request re-initialization on next pass
71 };
72
73 // 3DOF basic magnetometer state vector structure
74 struct SV_3DOF_B_BASIC
75 {
76 // start: elements common to all motion state vectors
77 // Euler angles
78 float fLPPhi; // low pass roll (deg)
79 float fLPThe; // low pass pitch (deg)
80 float fLPPsi; // low pass yaw (deg)
81 float fLPRho; // low pass compass (deg)
82 float fLPChi; // low pass tilt from vertical (deg)
83 // orientation matrix, quaternion and rotation vector
84 float fLPR[3][3]; // low pass filtered orientation matrix
85 struct fquaternion fLPq; // low pass filtered orientation quaternion
86 float fLPRVec[3]; // rotation vector
87 // angular velocity
88 float fOmega[3]; // angular velocity (deg/s)
89 // systick timer for benchmarking
90 int32 systick; // systick timer
91 // end: elements common to all motion state vectors
92 float fR[3][3]; // unfiltered orientation matrix
93 struct fquaternion fq; // unfiltered orientation quaternion
94 float fdeltat; // time interval (s)
95 float flpf; // low pass filter coefficient
96 int8 resetflag; // flag to request re-initialization on next pass
97 };
98
99 // 3DOF basic gyroscope state vector structure
100 struct SV_3DOF_Y_BASIC
101 {
102 // start: elements common to all motion state vectors
103 // Euler angles
104 float fPhi; // roll (deg)
105 float fThe; // pitch (deg)
106 float fPsi; // yaw (deg)
107 float fRho; // compass (deg)
108 float fChi; // tilt from vertical (deg)
109 // orientation matrices and quaternions
110 float fR[3][3]; // unfiltered orientation matrix
111 struct fquaternion fq; // unfiltered orientation quaternion
112 float fRVec[3]; // rotation vector
113 // angular velocity
114 float fOmega[3]; // angular velocity (deg/s)
115 // systick timer for benchmarking
116 int32 systick; // systick timer
117 // end: elements common to all motion state vectors
118 struct fquaternion fDeltaq; // delta rotation quaternion
119 float fFastdeltat; // sensor sampling interval (s) = 1 / SENSORFS
120 float fdeltat; // kalman filter sampling interval (s) = OVERSAMPLE_RATIO / SENSORFS
121 int8 resetflag; // flag to request re-initialization on next pass
122 };
123
124 // 6DOF basic accelerometer and magnetometer state vector structure
125 struct SV_6DOF_GB_BASIC
126 {
127 // start: elements common to all motion state vectors
128 // Euler angles
129 float fLPPhi; // low pass roll (deg)
130 float fLPThe; // low pass pitch (deg)
131 float fLPPsi; // low pass yaw (deg)
132 float fLPRho; // low pass compass (deg)
133 float fLPChi; // low pass tilt from vertical (deg)
134 // orientation matrix, quaternion and rotation vector
135 float fLPR[3][3]; // low pass filtered orientation matrix
136 struct fquaternion fLPq; // low pass filtered orientation quaternion
137 float fLPRVec[3]; // rotation vector
138 // angular velocity
139 float fOmega[3]; // virtual gyro angular velocity (deg/s)
140 // systick timer for benchmarking
141 int32 systick; // systick timer
142 // end: elements common to all motion state vectors
143 float fR[3][3]; // unfiltered orientation matrix
144 struct fquaternion fq; // unfiltered orientation quaternion
145 float fDelta; // unfiltered inclination angle (deg)
146 float fLPDelta; // low pass filtered inclination angle (deg)
147 float fdeltat; // time interval (s)
148 float flpf; // low pass filter coefficient
149 int8 resetflag; // flag to request re-initialization on next pass
150 };
151
152 // 6DOF Kalman filter accelerometer and gyroscope state vector structure
153 struct SV_6DOF_GY_KALMAN
154 {
155 // start: elements common to all motion state vectors
156 // Euler angles
157 float fPhiPl; // roll (deg)
158 float fThePl; // pitch (deg)
159 float fPsiPl; // yaw (deg)
160 float fRhoPl; // compass (deg)
161 float fChiPl; // tilt from vertical (deg)
162 // orientation matrix, quaternion and rotation vector
163 float fRPl[3][3]; // a posteriori rotation matrix
164 struct fquaternion fqPl; // a posteriori orientation quaternion
165 float fRVecPl[3]; // rotation vector
166 // angular velocity
167 float fOmega[3]; // angular velocity (deg/s)
168 // systick timer for benchmarking
169 int32 systick; // systick timer
170 // end: elements common to all motion state vectors
171
172 // elements transmitted over bluetooth in kalman packet
173 float fbPl[3]; // gyro offset (deg/s)
174 float fThErrPl[3]; // orientation error (deg)
175 float fbErrPl[3]; // gyro offset error (deg/s)
176 // end elements transmitted in kalman packet
177
178 float fzErrMi[3]; // angular error (deg) between a priori and eCompass orientations
179 float fRMi[3][3]; // a priori rotation matrix
180 struct fquaternion fqMi; // a priori orientation quaternion
181 struct fquaternion fDeltaq; // delta a priori or a posteriori quaternion
182 float faSePl[3]; // linear acceleration (g, sensor frame)
183 float faErrSePl[3]; // linear acceleration error (g, sensor frame)
184 float fgErrSeMi[3]; // difference (g, sensor frame) of gravity vector (accel) and gravity vector (gyro)
185 float fgSeGyMi[3]; // gravity vector (g, sensor frame) measurement from gyro
186 float faSeMi[3]; // linear acceleration (g, sensor frame)
187 float fQvAA; // accelerometer terms of Qv
188 float fPPlus9x9[9][9]; // covariance matrix P+
189 float fK9x3[9][3]; // kalman filter gain matrix K
190 float fQw9x9[9][9]; // covariance matrix Qw
191 float fC3x9[3][9]; // measurement matrix C
192 float fcasq; // FCA * FCA;
193 float fFastdeltat; // sensor sampling interval (s) = 1 / SENSORFS
194 float fdeltat; // kalman filter sampling interval (s) = OVERSAMPLE_RATIO / SENSORFS
195 float fdeltatsq; // fdeltat * fdeltat;
196 float fQwbplusQvG; // FQWB + FQVG;
197 int16 iFirstOrientationLock; // denotes that 6DOF orientation has locked to 3DOF
198 int8 resetflag; // flag to request re-initialization on next pass
199 };
200
201 // 9DOF Kalman filter accelerometer, magnetometer and gyroscope state vector structure
202 struct SV_9DOF_GBY_KALMAN
203 {
204 // start: elements common to all motion state vectors
205 // Euler angles
206 float fPhiPl; // roll (deg)
207 float fThePl; // pitch (deg)
208 float fPsiPl; // yaw (deg)
209 float fRhoPl; // compass (deg)
210 float fChiPl; // tilt from vertical (deg)
211 // orientation matrix, quaternion and rotation vector
212 float fRPl[3][3]; // a posteriori orientation matrix
213 struct fquaternion fqPl; // a posteriori orientation quaternion
214 float fRVecPl[3]; // rotation vector
215 // angular velocity
216 float fOmega[3]; // angular velocity (deg/s)
217 // systick timer for benchmarking
218 int32 systick; // systick timer;
219 // end: elements common to all motion state vectors
220
221 // elements transmitted over bluetooth in kalman packet
222 float fbPl[3]; // gyro offset (deg/s)
223 float fThErrPl[3]; // orientation error (deg)
224 float fbErrPl[3]; // gyro offset error (deg/s)
225 // end elements transmitted in kalman packet
226
227 float fdErrGlPl[3]; // magnetic disturbance error (uT, global frame)
228 float fdErrSePl[3]; // magnetic disturbance error (uT, sensor frame)
229 float faErrSePl[3]; // linear acceleration error (g, sensor frame)
230 float faSeMi[3]; // linear acceleration (g, sensor frame)
231 float fDeltaPl; // inclination angle (deg)
232 float faSePl[3]; // linear acceleration (g, sensor frame)
233 float faGlPl[3]; // linear acceleration (g, global frame)
234 float fgErrSeMi[3]; // difference (g, sensor frame) of gravity vector (accel) and gravity vector (gyro)
235 float fmErrSeMi[3]; // difference (uT, sensor frame) of geomagnetic vector (magnetometer) and geomagnetic vector (gyro)
236 float fgSeGyMi[3]; // gravity vector (g, sensor frame) measurement from gyro
237 float fmSeGyMi[3]; // geomagnetic vector (uT, sensor frame) measurement from gyro
238 float fmGl[3]; // geomagnetic vector (uT, global frame)
239 float fQvAA; // accelerometer terms of Qv
240 float fQvMM; // magnetometer terms of Qv
241 float fPPlus12x12[12][12]; // covariance matrix P+
242 float fK12x6[12][6]; // kalman filter gain matrix K
243 float fQw12x12[12][12]; // covariance matrix Qw
244 float fC6x12[6][12]; // measurement matrix C
245 float fRMi[3][3]; // a priori orientation matrix
246 struct fquaternion fDeltaq; // delta quaternion
247 struct fquaternion fqMi; // a priori orientation quaternion
248 float fcasq; // FCA * FCA;
249 float fcdsq; // FCD * FCD;
250 float fFastdeltat; // sensor sampling interval (s) = 1 / SENSORFS
251 float fdeltat; // kalman filter sampling interval (s) = OVERSAMPLE_RATIO / SENSORFS
252 float fdeltatsq; // fdeltat * fdeltat
253 float fQwbplusQvG; // FQWB + FQVG
254 int16 iFirstOrientationLock; // denotes that 9DOF orientation has locked to 6DOF
255 int8 resetflag; // flag to request re-initialization on next pass
256 };
257
258 typedef struct {
259 uint32 outputDataRate; /* time in usecs between orientation output samples */
260 uint8 coordinateSystem; /* use CoordinateSystem_t enums */
261 uint8 accelOversampleRatio; /* number of accel samples to take per orientation output */
262 uint8 magOversampleRatio; /* number of mag samples to take per orientation output */
263 uint8 gyroOversampleRatio; /* number of gyro samples to take per orientation output */
264 } fusion_algorithmConfig_t;
265
266 #endif /* FUSION_TYPES_H_ */
SV_6DOF_GY_KALMAN::iFirstOrientationLock
int16 iFirstOrientationLock
Definition: fusion_types.h:197
SV_3DOF_B_BASIC::fLPRVec
float fLPRVec[3]
Definition: fusion_types.h:86
SV_9DOF_GBY_KALMAN::fDeltaPl
float fDeltaPl
Definition: fusion_types.h:231
SV_3DOF_Y_BASIC::fChi
float fChi
Definition: fusion_types.h:108
SV_9DOF_GBY_KALMAN::fThePl
float fThePl
Definition: fusion_types.h:207
SV_3DOF_Y_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:114
uint8
unsigned char uint8
This defines uint8 as unsigned char.
Definition: isf_types.h:18
SV_3DOF_G_BASIC::fLPq
struct fquaternion fLPq
Definition: fusion_types.h:59
SV_6DOF_GB_BASIC::systick
int32 systick
Definition: fusion_types.h:141
SV_6DOF_GY_KALMAN::fRMi
float fRMi[3][3]
Definition: fusion_types.h:179
SV_6DOF_GY_KALMAN::systick
int32 systick
Definition: fusion_types.h:169
SV_6DOF_GB_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:143
SV_3DOF_B_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:94
SV_9DOF_GBY_KALMAN::fqMi
struct fquaternion fqMi
Definition: fusion_types.h:247
SV_9DOF_GBY_KALMAN::fRVecPl
float fRVecPl[3]
Definition: fusion_types.h:214
SV_9DOF_GBY_KALMAN::fcasq
float fcasq
Definition: fusion_types.h:248
Q6AG
Definition: fusion_types.h:20
SV_6DOF_GY_KALMAN::fFastdeltat
float fFastdeltat
Definition: fusion_types.h:193
SV_6DOF_GY_KALMAN::fPPlus9x9
float fPPlus9x9[9][9]
Definition: fusion_types.h:188
SV_6DOF_GY_KALMAN::fdeltatsq
float fdeltatsq
Definition: fusion_types.h:195
fusion_algorithmConfig_t::gyroOversampleRatio
uint8 gyroOversampleRatio
Definition: fusion_types.h:263
quaternion
quaternion
Definition: fusion_types.h:20
SV_6DOF_GY_KALMAN::fPsiPl
float fPsiPl
Definition: fusion_types.h:159
SV_3DOF_Y_BASIC::fFastdeltat
float fFastdeltat
Definition: fusion_types.h:119
SV_9DOF_GBY_KALMAN::fC6x12
float fC6x12[6][12]
Definition: fusion_types.h:244
SV_6DOF_GY_KALMAN::fbPl
float fbPl[3]
Definition: fusion_types.h:173
SV_6DOF_GB_BASIC::fLPPsi
float fLPPsi
Definition: fusion_types.h:131
SV_9DOF_GBY_KALMAN::fgSeGyMi
float fgSeGyMi[3]
Definition: fusion_types.h:236
SV_9DOF_GBY_KALMAN::fbErrPl
float fbErrPl[3]
Definition: fusion_types.h:224
SV_6DOF_GY_KALMAN::fRPl
float fRPl[3][3]
Definition: fusion_types.h:163
SV_9DOF_GBY_KALMAN::fRPl
float fRPl[3][3]
Definition: fusion_types.h:212
Q3M
Definition: fusion_types.h:20
SV_9DOF_GBY_KALMAN::fDeltaq
struct fquaternion fDeltaq
Definition: fusion_types.h:246
SV_6DOF_GY_KALMAN::fOmega
float fOmega[3]
Definition: fusion_types.h:167
SV_9DOF_GBY_KALMAN::fbPl
float fbPl[3]
Definition: fusion_types.h:222
SV_6DOF_GY_KALMAN::faSeMi
float faSeMi[3]
Definition: fusion_types.h:186
SV_9DOF_GBY_KALMAN::fQw12x12
float fQw12x12[12][12]
Definition: fusion_types.h:243
SV_9DOF_GBY_KALMAN::fqPl
struct fquaternion fqPl
Definition: fusion_types.h:213
SV_9DOF_GBY_KALMAN::iFirstOrientationLock
int16 iFirstOrientationLock
Definition: fusion_types.h:254
SV_1DOF_P_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:44
SV_6DOF_GY_KALMAN::fDeltaq
struct fquaternion fDeltaq
Definition: fusion_types.h:181
fquaternion::q1
float q1
Definition: fusion_types.h:30
SV_9DOF_GBY_KALMAN::fdErrGlPl
float fdErrGlPl[3]
Definition: fusion_types.h:227
SV_3DOF_G_BASIC::fLPPhi
float fLPPhi
Definition: fusion_types.h:52
SV_9DOF_GBY_KALMAN::fdErrSePl
float fdErrSePl[3]
Definition: fusion_types.h:228
SV_3DOF_G_BASIC::fLPRVec
float fLPRVec[3]
Definition: fusion_types.h:60
SV_6DOF_GY_KALMAN::fQvAA
float fQvAA
Definition: fusion_types.h:187
SV_9DOF_GBY_KALMAN::fmErrSeMi
float fmErrSeMi[3]
Definition: fusion_types.h:235
SV_3DOF_B_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:93
Q6MA
Definition: fusion_types.h:20
Q3
Definition: fusion_types.h:20
SV_9DOF_GBY_KALMAN::fmSeGyMi
float fmSeGyMi[3]
Definition: fusion_types.h:237
SV_6DOF_GB_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:147
SV_3DOF_B_BASIC
Definition: fusion_types.h:74
SV_6DOF_GY_KALMAN::faErrSePl
float faErrSePl[3]
Definition: fusion_types.h:183
fusion_algorithmConfig_t::accelOversampleRatio
uint8 accelOversampleRatio
Definition: fusion_types.h:261
SV_9DOF_GBY_KALMAN::fcdsq
float fcdsq
Definition: fusion_types.h:249
SV_9DOF_GBY_KALMAN::faSePl
float faSePl[3]
Definition: fusion_types.h:232
int8
signed char int8
Definition: basic_types.h:12
SV_3DOF_G_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:67
SV_3DOF_B_BASIC::fLPq
struct fquaternion fLPq
Definition: fusion_types.h:85
uint32
unsigned long uint32
This defines uint32 as unsigned long.
Definition: isf_types.h:36
SV_6DOF_GY_KALMAN::resetflag
int8 resetflag
Definition: fusion_types.h:198
SV_6DOF_GY_KALMAN::fRVecPl
float fRVecPl[3]
Definition: fusion_types.h:165
SV_9DOF_GBY_KALMAN
Definition: fusion_types.h:202
SV_6DOF_GB_BASIC::fDelta
float fDelta
Definition: fusion_types.h:145
SV_3DOF_Y_BASIC::fRVec
float fRVec[3]
Definition: fusion_types.h:112
fquaternion
Definition: fusion_types.h:27
fusion_algorithmConfig_t::magOversampleRatio
uint8 magOversampleRatio
Definition: fusion_types.h:262
SV_9DOF_GBY_KALMAN::fQwbplusQvG
float fQwbplusQvG
Definition: fusion_types.h:253
SV_6DOF_GY_KALMAN::fcasq
float fcasq
Definition: fusion_types.h:192
quaternion_type
enum quaternion quaternion_type
SV_9DOF_GBY_KALMAN::faSeMi
float faSeMi[3]
Definition: fusion_types.h:230
SV_6DOF_GY_KALMAN::fgErrSeMi
float fgErrSeMi[3]
Definition: fusion_types.h:184
SV_1DOF_P_BASIC
Definition: fusion_types.h:37
Q9
Definition: fusion_types.h:20
SV_3DOF_B_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:84
SV_6DOF_GB_BASIC::flpf
float flpf
Definition: fusion_types.h:148
SV_6DOF_GY_KALMAN::fqPl
struct fquaternion fqPl
Definition: fusion_types.h:164
SV_9DOF_GBY_KALMAN::fgErrSeMi
float fgErrSeMi[3]
Definition: fusion_types.h:234
SV_3DOF_Y_BASIC::fPsi
float fPsi
Definition: fusion_types.h:106
SV_6DOF_GY_KALMAN
Definition: fusion_types.h:153
Q3G
Definition: fusion_types.h:20
SV_3DOF_B_BASIC::fLPThe
float fLPThe
Definition: fusion_types.h:79
SV_3DOF_Y_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:110
SV_6DOF_GB_BASIC::fLPChi
float fLPChi
Definition: fusion_types.h:133
SV_3DOF_G_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:66
SV_6DOF_GB_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:135
SV_3DOF_B_BASIC::fLPPhi
float fLPPhi
Definition: fusion_types.h:78
SV_9DOF_GBY_KALMAN::systick
int32 systick
Definition: fusion_types.h:218
SV_6DOF_GY_KALMAN::faSePl
float faSePl[3]
Definition: fusion_types.h:182
SV_9DOF_GBY_KALMAN::faErrSePl
float faErrSePl[3]
Definition: fusion_types.h:229
SV_3DOF_B_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:92
SV_3DOF_Y_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:121
SV_3DOF_Y_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:120
SV_3DOF_Y_BASIC::systick
int32 systick
Definition: fusion_types.h:116
SV_3DOF_Y_BASIC::fPhi
float fPhi
Definition: fusion_types.h:104
SV_3DOF_Y_BASIC
Definition: fusion_types.h:100
SV_3DOF_G_BASIC::flpf
float flpf
Definition: fusion_types.h:69
SV_3DOF_Y_BASIC::fRho
float fRho
Definition: fusion_types.h:107
SV_9DOF_GBY_KALMAN::fdeltatsq
float fdeltatsq
Definition: fusion_types.h:252
matrix.h
SV_3DOF_B_BASIC::systick
int32 systick
Definition: fusion_types.h:90
fusion_algorithmConfig_t::coordinateSystem
uint8 coordinateSystem
Definition: fusion_types.h:260
SV_3DOF_B_BASIC::flpf
float flpf
Definition: fusion_types.h:95
SV_6DOF_GY_KALMAN::fThePl
float fThePl
Definition: fusion_types.h:158
SV_9DOF_GBY_KALMAN::fOmega
float fOmega[3]
Definition: fusion_types.h:216
SV_1DOF_P_BASIC::fLPTp
float fLPTp
Definition: fusion_types.h:40
SV_6DOF_GY_KALMAN::fPhiPl
float fPhiPl
Definition: fusion_types.h:157
SV_3DOF_G_BASIC::systick
int32 systick
Definition: fusion_types.h:64
SV_6DOF_GB_BASIC::fLPRho
float fLPRho
Definition: fusion_types.h:132
SV_9DOF_GBY_KALMAN::fK12x6
float fK12x6[12][6]
Definition: fusion_types.h:242
SV_6DOF_GY_KALMAN::fC3x9
float fC3x9[3][9]
Definition: fusion_types.h:191
SV_6DOF_GB_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:144
SV_3DOF_B_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:88
SV_3DOF_G_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:58
SV_3DOF_Y_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:111
SV_6DOF_GB_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:139
SV_9DOF_GBY_KALMAN::fChiPl
float fChiPl
Definition: fusion_types.h:210
SV_6DOF_GB_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:149
int32
long int32
This defines int32 as long.
Definition: isf_types.h:32
SV_9DOF_GBY_KALMAN::fRMi
float fRMi[3][3]
Definition: fusion_types.h:245
SV_3DOF_G_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:62
fquaternion::q2
float q2
Definition: fusion_types.h:31
SV_3DOF_G_BASIC::fLPThe
float fLPThe
Definition: fusion_types.h:53
SV_6DOF_GY_KALMAN::fQw9x9
float fQw9x9[9][9]
Definition: fusion_types.h:190
int16
short int16
This defines int16 as short.
Definition: isf_types.h:23
SV_9DOF_GBY_KALMAN::fRhoPl
float fRhoPl
Definition: fusion_types.h:209
SV_9DOF_GBY_KALMAN::fFastdeltat
float fFastdeltat
Definition: fusion_types.h:250
SV_1DOF_P_BASIC::fLPHp
float fLPHp
Definition: fusion_types.h:39
SV_6DOF_GY_KALMAN::fRhoPl
float fRhoPl
Definition: fusion_types.h:160
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struct fquaternion fqMi
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