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fusion_types.h
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1 // Copyright (c) 2015, Freescale Semiconductor, Inc.
2 // All rights reserved.
3 //
4 // Redistribution and use in source and binary forms, with or without
5 // modification, are permitted provided that the following conditions are met:
6 // * Redistributions of source code must retain the above copyright
7 // notice, this list of conditions and the following disclaimer.
8 // * Redistributions in binary form must reproduce the above copyright
9 // notice, this list of conditions and the following disclaimer in the
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11 // * Neither the name of Freescale Semiconductor, Inc. nor the
12 // names of its contributors may be used to endorse or promote products
13 // derived from this software without specific prior written permission.
14 //
15 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
16 // ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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25
26 #ifndef FUSION_TYPES_H_
27 #define FUSION_TYPES_H_
28
29 #include "matrix.h"
30 // coordinate system for the build
31 #define NED 0 // identifier for NED angle output
32 #define ANDROID 1 // identifier for Andro
33 #define WIN8 2 // identifier for Windows 8 angle output
34
35 // useful multiplicative conversion constants
36 #define PI 3.141592654F // Pi
37 #define FPIOVER180 0.01745329251994F // degrees to radians conversion = pi / 180
38 #define F180OVERPI 57.2957795130823F // radians to degrees conversion = 180 / pi
39 #define F180OVERPISQ 3282.8063500117F // square of F180OVERPI
40 #define ONETHIRD 0.33333333F // one third
41 #define ONESIXTH 0.166666667F // one sixth
42 #define ONEOVER48 0.02083333333F // 1 / 48
43 #define ONEOVER120 0.0083333333F // 1 / 120
44 #define ONEOVER3840 0.0002604166667F // 1 / 3840
45 #define ONEOVERSQRT2 0.707106781F // 1/sqrt(2)
46 #define GTOMSEC2 9.80665 // standard gravity in m/s2
47
48 // type definitions
49
50 // the quaternion type to be transmitted
51 typedef enum quaternion {Q3, Q3M, Q3G, Q6MA, Q6AG, Q9} quaternion_type;
52
53
54 // structure definitions
55
56
57 // quaternion structure definition
58 struct fquaternion
59 {
60 float q0; // scalar component
61 float q1; // x vector component
62 float q2; // y vector component
63 float q3; // z vector component
64 };
65
66
67 // 1DOF pressure state vector structure
68 struct SV_1DOF_P_BASIC
69 {
70 float fLPH; // low pass filtered height (m)
71 float fLPT; // low pass filtered temperature (C)
72 float fdeltat; // time interval (s)
73 float flpf; // low pass filter coefficient
74 int32 systick; // systick timer
75 int8 resetflag; // flag to request re-initialization on next pass
76 };
77
78 // 3DOF basic accelerometer state vector structure
79 struct SV_3DOF_G_BASIC
80 {
81 // start: elements common to all motion state vectors
82 // Euler angles
83 float fLPPhi; // low pass roll (deg)
84 float fLPThe; // low pass pitch (deg)
85 float fLPPsi; // low pass yaw (deg)
86 float fLPRho; // low pass compass (deg)
87 float fLPChi; // low pass tilt from vertical (deg)
88 // orientation matrix, quaternion and rotation vector
89 float fLPR[3][3]; // low pass filtered orientation matrix
90 struct fquaternion fLPq; // low pass filtered orientation quaternion
91 float fLPRVec[3]; // rotation vector
92 // angular velocity
93 float fOmega[3]; // angular velocity (deg/s)
94 // systick timer for benchmarking
95 int32 systick; // systick timer
96 // end: elements common to all motion state vectors
97 float fR[3][3]; // unfiltered orientation matrix
98 struct fquaternion fq; // unfiltered orientation quaternion
99 float fdeltat; // time interval (s)
100 float flpf; // low pass filter coefficient
101 int8 resetflag; // flag to request re-initialization on next pass
102 };
103
104 // 3DOF basic magnetometer state vector structure
105 struct SV_3DOF_B_BASIC
106 {
107 // start: elements common to all motion state vectors
108 // Euler angles
109 float fLPPhi; // low pass roll (deg)
110 float fLPThe; // low pass pitch (deg)
111 float fLPPsi; // low pass yaw (deg)
112 float fLPRho; // low pass compass (deg)
113 float fLPChi; // low pass tilt from vertical (deg)
114 // orientation matrix, quaternion and rotation vector
115 float fLPR[3][3]; // low pass filtered orientation matrix
116 struct fquaternion fLPq; // low pass filtered orientation quaternion
117 float fLPRVec[3]; // rotation vector
118 // angular velocity
119 float fOmega[3]; // angular velocity (deg/s)
120 // systick timer for benchmarking
121 int32 systick; // systick timer
122 // end: elements common to all motion state vectors
123 float fR[3][3]; // unfiltered orientation matrix
124 struct fquaternion fq; // unfiltered orientation quaternion
125 float fdeltat; // time interval (s)
126 float flpf; // low pass filter coefficient
127 int8 resetflag; // flag to request re-initialization on next pass
128 };
129
130 // 3DOF basic gyroscope state vector structure
131 struct SV_3DOF_Y_BASIC
132 {
133 // start: elements common to all motion state vectors
134 // Euler angles
135 float fPhi; // roll (deg)
136 float fThe; // pitch (deg)
137 float fPsi; // yaw (deg)
138 float fRho; // compass (deg)
139 float fChi; // tilt from vertical (deg)
140 // orientation matrices and quaternions
141 float fR[3][3]; // unfiltered orientation matrix
142 struct fquaternion fq; // unfiltered orientation quaternion
143 float fRVec[3]; // rotation vector
144 // angular velocity
145 float fOmega[3]; // angular velocity (deg/s)
146 // systick timer for benchmarking
147 int32 systick; // systick timer
148 // end: elements common to all motion state vectors
149 float fGyrodeltat; // gyro sensor sampling interval (s) = 1 / SENSORFS
150 float fdeltat; // kalman filter sampling interval (s) = OVERSAMPLE_RATIO / SENSORFS
151 int8 resetflag; // flag to request re-initialization on next pass
152 };
153
154 // 6DOF basic accelerometer and magnetometer state vector structure
155 struct SV_6DOF_GB_BASIC
156 {
157 // start: elements common to all motion state vectors
158 // Euler angles
159 float fLPPhi; // low pass roll (deg)
160 float fLPThe; // low pass pitch (deg)
161 float fLPPsi; // low pass yaw (deg)
162 float fLPRho; // low pass compass (deg)
163 float fLPChi; // low pass tilt from vertical (deg)
164 // orientation matrix, quaternion and rotation vector
165 float fLPR[3][3]; // low pass filtered orientation matrix
166 struct fquaternion fLPq; // low pass filtered orientation quaternion
167 float fLPRVec[3]; // rotation vector
168 // angular velocity
169 float fOmega[3]; // virtual gyro angular velocity (deg/s)
170 // systick timer for benchmarking
171 int32 systick; // systick timer
172 // end: elements common to all motion state vectors
173 float fR[3][3]; // unfiltered orientation matrix
174 struct fquaternion fq; // unfiltered orientation quaternion
175 float fDelta; // unfiltered inclination angle (deg)
176 float fLPDelta; // low pass filtered inclination angle (deg)
177 float fdeltat; // time interval (s)
178 float flpf; // low pass filter coefficient
179 int8 resetflag; // flag to request re-initialization on next pass
180 };
181
182 // 6DOF Kalman filter accelerometer and gyroscope state vector structure
183 struct SV_6DOF_GY_KALMAN
184 {
185 // start: elements common to all motion state vectors
186 // Euler angles
187 float fPhiPl; // roll (deg)
188 float fThePl; // pitch (deg)
189 float fPsiPl; // yaw (deg)
190 float fRhoPl; // compass (deg)
191 float fChiPl; // tilt from vertical (deg)
192 // orientation matrix, quaternion and rotation vector
193 float fRPl[3][3]; // a posteriori orientation matrix
194 struct fquaternion fqPl; // a posteriori orientation quaternion
195 float fRVecPl[3]; // rotation vector
196 float fOmega[3]; // average angular velocity (deg/s)
197 int32 systick; // systick timer;
198 // end: elements common to all motion state vectors
199 float fQw6x6[6][6]; // covariance matrix Qw
200 float fK6x3[6][3]; // kalman filter gain matrix K
201 float fQwCT6x3[6][3]; // Qw.C^T matrix
202 float fQv; // measurement noise covariance matrix leading diagonal
203 float fZErr[3]; // measurement error vector
204 float fqgErrPl[3]; // gravity vector tilt orientation quaternion error (dimensionless)
205 float fbPl[3]; // gyro offset (deg/s)
206 float fbErrPl[3]; // gyro offset error (deg/s)
207 float fAccGl[3]; // linear acceleration (g) in global frame
208 float fGyrodeltat; // gyro sampling interval (s) = 1 / SENSORFS
209 float fAlphaOver2; // PI/360 * fKalmandeltat
210 float fAlphaOver2Sq; // (PI/360 * fKalmandeltat)^2
211 float fAlphaOver2SqQvYQwb; // (PI/360 * fKalmandeltat)^2 * (QvY + Qwb)
212 float fAlphaOver2Qwb; // PI/360 * fKalmandeltat * FQWB_9DOF_GBY_KALMAN;
213 int16 iFirstOrientationLock; // denotes that 6DOF orientation has locked to 3DOF
214 int8 resetflag; // flag to request re-initialization on next pass
215 };
216
217 // 9DOF Kalman filter accelerometer, magnetometer and gyroscope state vector structure
218 struct SV_9DOF_GBY_KALMAN
219 {
220 // start: elements common to all motion state vectors
221 // Euler angles
222 float fPhiPl; // roll (deg)
223 float fThePl; // pitch (deg)
224 float fPsiPl; // yaw (deg)
225 float fRhoPl; // compass (deg)
226 float fChiPl; // tilt from vertical (deg)
227 // orientation matrix, quaternion and rotation vector
228 float fRPl[3][3]; // a posteriori orientation matrix
229 struct fquaternion fqPl; // a posteriori orientation quaternion
230 float fRVecPl[3]; // rotation vector
231 // angular velocity
232 float fOmega[3]; // average angular velocity (deg/s)
233 // systick timer for benchmarking
234 int32 systick; // systick timer;
235 // end: elements common to all motion state vectors
236 float fQw10x10[10][10]; // covariance matrix Qw
237 float fK10x7[10][7]; // kalman filter gain matrix K
238 float fQwCT10x7[10][7]; // Qw.C^T matrix
239 float fZErr[7]; // measurement error vector
240 float fQv7x1[7]; // measurement noise covariance matrix leading diagonal
241 float fDeltaPl; // a posteriori inclination angle from Kalman filter (deg)
242 float fsinDeltaPl; // sin(fDeltaPl)
243 float fcosDeltaPl; // cos(fDeltaPl)
244 float fqgErrPl[3]; // gravity vector tilt orientation quaternion error (dimensionless)
245 float fqmErrPl[3]; // geomagnetic vector tilt orientation quaternion error (dimensionless)
246 float fbPl[3]; // gyro offset (deg/s)
247 float fbErrPl[3]; // gyro offset error (deg/s)
248 float fDeltaErrPl; // a priori inclination angle error correction
249 float fAccGl[3]; // linear acceleration (g) in global frame
250 float fVelGl[3]; // velocity (m/s) in global frame
251 float fDisGl[3]; // displacement (m) in global frame
252 float fGyrodeltat; // gyro sampling interval (s) = 1 / SENSORFS
253 float fKalmandeltat; // Kalman filter interval (s) = OVERSAMPLE_RATIO / SENSORFS
254 float fgKalmandeltat; // g (m/s2) * Kalman filter interval (s) = 9.80665 * OVERSAMPLE_RATIO / SENSORFS
255 float fAlphaOver2; // PI/360 * fKalmandeltat
256 float fAlphaOver2Sq; // (PI/360 * fKalmandeltat)^2
257 float fAlphaOver2SqQvYQwb; // (PI/360 * fKalmandeltat)^2 * (QvY + Qwb)
258 float fAlphaOver2Qwb; // PI/360 * fKalmandeltat * FQWB_9DOF_GBY_KALMAN;
259 int8 iFirstAccelMagLock; // denotes that 9DOF orientation has locked to 6DOF eCompass
260 int16 iFirstOrientationLock; // denotes that 9DOF orientation has locked to 6DOF
261 int8 resetflag; // flag to request re-initialization on next pass
262 };
263
264 typedef struct {
265 uint32 outputDataRate; /* time in usecs between orientation output samples */
266 uint8 coordinateSystem; /* use CoordinateSystem_t enums */
267 uint8 accelOversampleRatio; /* number of accel samples to take per orientation output */
268 uint8 magOversampleRatio; /* number of mag samples to take per orientation output */
269 uint8 gyroOversampleRatio; /* number of gyro samples to take per orientation output */
270 uint8 pressureOversampleRatio; /* number of gyro samples to take per orientation output */
271 } fusion_algorithmConfig_t;
272
273 #endif /* FUSION_TYPES_H_ */
SV_6DOF_GY_KALMAN::iFirstOrientationLock
int16 iFirstOrientationLock
Definition: fusion_types.h:213
SV_3DOF_B_BASIC::fLPRVec
float fLPRVec[3]
Definition: fusion_types.h:117
SV_9DOF_GBY_KALMAN::fDeltaPl
float fDeltaPl
Definition: fusion_types.h:241
SV_3DOF_Y_BASIC::fChi
float fChi
Definition: fusion_types.h:139
SV_9DOF_GBY_KALMAN::fThePl
float fThePl
Definition: fusion_types.h:223
SV_3DOF_Y_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:145
uint8
unsigned char uint8
Definition: isf_types.h:76
SV_3DOF_G_BASIC::fLPq
struct fquaternion fLPq
Definition: fusion_types.h:90
SV_6DOF_GB_BASIC::systick
int32 systick
Definition: fusion_types.h:171
SV_9DOF_GBY_KALMAN::fVelGl
float fVelGl[3]
Definition: fusion_types.h:250
SV_6DOF_GY_KALMAN::systick
int32 systick
Definition: fusion_types.h:197
SV_6DOF_GY_KALMAN::fQw6x6
float fQw6x6[6][6]
Definition: fusion_types.h:199
SV_6DOF_GB_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:173
SV_3DOF_B_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:125
SV_9DOF_GBY_KALMAN::fRVecPl
float fRVecPl[3]
Definition: fusion_types.h:230
SV_6DOF_GY_KALMAN::fK6x3
float fK6x3[6][3]
Definition: fusion_types.h:200
SV_9DOF_GBY_KALMAN::fsinDeltaPl
float fsinDeltaPl
Definition: fusion_types.h:242
Q6AG
Definition: fusion_types.h:51
SV_6DOF_GY_KALMAN::fQv
float fQv
Definition: fusion_types.h:202
fusion_algorithmConfig_t::gyroOversampleRatio
uint8 gyroOversampleRatio
Definition: fusion_types.h:269
quaternion
quaternion
Definition: fusion_types.h:51
SV_3DOF_Y_BASIC::fGyrodeltat
float fGyrodeltat
Definition: fusion_types.h:149
SV_6DOF_GY_KALMAN::fPsiPl
float fPsiPl
Definition: fusion_types.h:189
SV_6DOF_GY_KALMAN::fbPl
float fbPl[3]
Definition: fusion_types.h:205
SV_6DOF_GB_BASIC::fLPPsi
float fLPPsi
Definition: fusion_types.h:161
SV_9DOF_GBY_KALMAN::fbErrPl
float fbErrPl[3]
Definition: fusion_types.h:247
SV_6DOF_GY_KALMAN::fRPl
float fRPl[3][3]
Definition: fusion_types.h:193
SV_9DOF_GBY_KALMAN::fGyrodeltat
float fGyrodeltat
Definition: fusion_types.h:252
SV_9DOF_GBY_KALMAN::fRPl
float fRPl[3][3]
Definition: fusion_types.h:228
Q3M
Definition: fusion_types.h:51
SV_6DOF_GY_KALMAN::fOmega
float fOmega[3]
Definition: fusion_types.h:196
SV_9DOF_GBY_KALMAN::fbPl
float fbPl[3]
Definition: fusion_types.h:246
SV_9DOF_GBY_KALMAN::fqPl
struct fquaternion fqPl
Definition: fusion_types.h:229
SV_9DOF_GBY_KALMAN::iFirstOrientationLock
int16 iFirstOrientationLock
Definition: fusion_types.h:260
SV_1DOF_P_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:75
SV_9DOF_GBY_KALMAN::fKalmandeltat
float fKalmandeltat
Definition: fusion_types.h:253
fquaternion::q1
float q1
Definition: fusion_types.h:61
SV_3DOF_G_BASIC::fLPPhi
float fLPPhi
Definition: fusion_types.h:83
SV_3DOF_G_BASIC::fLPRVec
float fLPRVec[3]
Definition: fusion_types.h:91
SV_3DOF_B_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:124
Q6MA
Definition: fusion_types.h:51
Q3
Definition: fusion_types.h:51
SV_6DOF_GY_KALMAN::fAlphaOver2SqQvYQwb
float fAlphaOver2SqQvYQwb
Definition: fusion_types.h:211
SV_6DOF_GB_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:177
SV_3DOF_B_BASIC
Definition: fusion_types.h:105
SV_9DOF_GBY_KALMAN::fAlphaOver2Qwb
float fAlphaOver2Qwb
Definition: fusion_types.h:258
fusion_algorithmConfig_t::accelOversampleRatio
uint8 accelOversampleRatio
Definition: fusion_types.h:267
SV_3DOF_G_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:98
SV_3DOF_B_BASIC::fLPq
struct fquaternion fLPq
Definition: fusion_types.h:116
SV_6DOF_GY_KALMAN::resetflag
int8 resetflag
Definition: fusion_types.h:214
SV_6DOF_GY_KALMAN::fQwCT6x3
float fQwCT6x3[6][3]
Definition: fusion_types.h:201
SV_6DOF_GY_KALMAN::fRVecPl
float fRVecPl[3]
Definition: fusion_types.h:195
SV_9DOF_GBY_KALMAN
Definition: fusion_types.h:218
SV_6DOF_GB_BASIC::fDelta
float fDelta
Definition: fusion_types.h:175
SV_3DOF_Y_BASIC::fRVec
float fRVec[3]
Definition: fusion_types.h:143
fquaternion
Definition: fusion_types.h:58
fusion_algorithmConfig_t::magOversampleRatio
uint8 magOversampleRatio
Definition: fusion_types.h:268
SV_9DOF_GBY_KALMAN::fQwCT10x7
float fQwCT10x7[10][7]
Definition: fusion_types.h:238
quaternion_type
enum quaternion quaternion_type
SV_9DOF_GBY_KALMAN::fK10x7
float fK10x7[10][7]
Definition: fusion_types.h:237
SV_1DOF_P_BASIC
Definition: fusion_types.h:68
Q9
Definition: fusion_types.h:51
SV_9DOF_GBY_KALMAN::fAccGl
float fAccGl[3]
Definition: fusion_types.h:249
SV_3DOF_B_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:115
SV_6DOF_GB_BASIC::flpf
float flpf
Definition: fusion_types.h:178
SV_6DOF_GY_KALMAN::fqPl
struct fquaternion fqPl
Definition: fusion_types.h:194
SV_3DOF_Y_BASIC::fPsi
float fPsi
Definition: fusion_types.h:137
SV_6DOF_GY_KALMAN::fAlphaOver2
float fAlphaOver2
Definition: fusion_types.h:209
SV_6DOF_GY_KALMAN
Definition: fusion_types.h:183
Q3G
Definition: fusion_types.h:51
SV_3DOF_B_BASIC::fLPThe
float fLPThe
Definition: fusion_types.h:110
SV_6DOF_GY_KALMAN::fAlphaOver2Qwb
float fAlphaOver2Qwb
Definition: fusion_types.h:212
SV_3DOF_Y_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:141
SV_6DOF_GB_BASIC::fLPChi
float fLPChi
Definition: fusion_types.h:163
SV_3DOF_G_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:97
SV_6DOF_GB_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:165
SV_3DOF_B_BASIC::fLPPhi
float fLPPhi
Definition: fusion_types.h:109
SV_9DOF_GBY_KALMAN::systick
int32 systick
Definition: fusion_types.h:234
SV_6DOF_GY_KALMAN::fAlphaOver2Sq
float fAlphaOver2Sq
Definition: fusion_types.h:210
int16
signed short int int16
Definition: isf_types.h:73
SV_9DOF_GBY_KALMAN::iFirstAccelMagLock
int8 iFirstAccelMagLock
Definition: fusion_types.h:259
SV_3DOF_B_BASIC::fR
float fR[3][3]
Definition: fusion_types.h:123
SV_3DOF_Y_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:151
SV_3DOF_Y_BASIC::fdeltat
float fdeltat
Definition: fusion_types.h:150
SV_3DOF_Y_BASIC::systick
int32 systick
Definition: fusion_types.h:147
SV_3DOF_Y_BASIC::fPhi
float fPhi
Definition: fusion_types.h:135
SV_3DOF_Y_BASIC
Definition: fusion_types.h:131
SV_3DOF_G_BASIC::flpf
float flpf
Definition: fusion_types.h:100
SV_1DOF_P_BASIC::fLPT
float fLPT
Definition: fusion_types.h:71
SV_3DOF_Y_BASIC::fRho
float fRho
Definition: fusion_types.h:138
matrix.h
SV_3DOF_B_BASIC::systick
int32 systick
Definition: fusion_types.h:121
fusion_algorithmConfig_t::coordinateSystem
uint8 coordinateSystem
Definition: fusion_types.h:266
SV_9DOF_GBY_KALMAN::fDeltaErrPl
float fDeltaErrPl
Definition: fusion_types.h:248
SV_3DOF_B_BASIC::flpf
float flpf
Definition: fusion_types.h:126
fusion_algorithmConfig_t::pressureOversampleRatio
uint8 pressureOversampleRatio
Definition: fusion_types.h:270
SV_6DOF_GY_KALMAN::fGyrodeltat
float fGyrodeltat
Definition: fusion_types.h:208
SV_6DOF_GY_KALMAN::fThePl
float fThePl
Definition: fusion_types.h:188
SV_9DOF_GBY_KALMAN::fOmega
float fOmega[3]
Definition: fusion_types.h:232
SV_6DOF_GY_KALMAN::fPhiPl
float fPhiPl
Definition: fusion_types.h:187
SV_3DOF_G_BASIC::systick
int32 systick
Definition: fusion_types.h:95
SV_6DOF_GB_BASIC::fLPRho
float fLPRho
Definition: fusion_types.h:162
SV_6DOF_GB_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:174
SV_3DOF_B_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:119
SV_3DOF_G_BASIC::fLPR
float fLPR[3][3]
Definition: fusion_types.h:89
SV_6DOF_GY_KALMAN::fZErr
float fZErr[3]
Definition: fusion_types.h:203
SV_9DOF_GBY_KALMAN::fAlphaOver2
float fAlphaOver2
Definition: fusion_types.h:255
SV_3DOF_Y_BASIC::fq
struct fquaternion fq
Definition: fusion_types.h:142
SV_6DOF_GB_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:169
SV_9DOF_GBY_KALMAN::fChiPl
float fChiPl
Definition: fusion_types.h:226
SV_9DOF_GBY_KALMAN::fAlphaOver2SqQvYQwb
float fAlphaOver2SqQvYQwb
Definition: fusion_types.h:257
SV_9DOF_GBY_KALMAN::fQv7x1
float fQv7x1[7]
Definition: fusion_types.h:240
SV_6DOF_GB_BASIC::resetflag
int8 resetflag
Definition: fusion_types.h:179
SV_3DOF_G_BASIC::fOmega
float fOmega[3]
Definition: fusion_types.h:93
fquaternion::q2
float q2
Definition: fusion_types.h:62
SV_3DOF_G_BASIC::fLPThe
float fLPThe
Definition: fusion_types.h:84
SV_9DOF_GBY_KALMAN::fRhoPl
float fRhoPl
Definition: fusion_types.h:225
int32
signed long int int32
Definition: isf_types.h:74
SV_9DOF_GBY_KALMAN::fqmErrPl
float fqmErrPl[3]
Definition: fusion_types.h:245
SV_6DOF_GY_KALMAN::fRhoPl
float fRhoPl
Definition: fusion_types.h:190
SV_9DOF_GBY_KALMAN::fcosDeltaPl
float fcosDeltaPl
Definition: fusion_types.h:243
SV_9DOF_GBY_KALMAN::resetflag
int8 resetflag
Definition: fusion_types.h:261
SV_9DOF_GBY_KALMAN::fgKalmandeltat
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