218 void Fusion::initFusion(const vec4_t& q, float dT)  in initFusion()  argument
234     const float dT2 = dT*dT;  in initFusion()
235     const float dT3 = dT2*dT;  in initFusion()
238     const float q00 = mParam.gyroVar * dT + 0.33333f * mParam.gyroBiasVar * dT3;  in initFusion()
241     const float q11 = mParam.gyroBiasVar * dT;  in initFusion()
261 bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {  in checkInitComplete()  argument
270             mGyroRate = dT;  in checkInitComplete()
277         mGyroRate = dT;  in checkInitComplete()
278         mData[2] += d*dT;  in checkInitComplete()
313 void Fusion::handleGyro(const vec3_t& w, float dT) {  in handleGyro()  argument
314     if (!checkInitComplete(GYRO, w, dT))  in handleGyro()
317     predict(w, dT);  in handleGyro()
320 status_t Fusion::handleAcc(const vec3_t& a, float dT) {  in handleAcc()  argument
321     if (!checkInitComplete(ACC, a, dT))  in handleAcc()
336         predict(w_dummy, dT);  in handleAcc()
430 void Fusion::predict(const vec3_t& w, float dT) {  in predict()  argument
465     const mat33_t I33dT(dT);  in predict()
468     const float lwedT = length(we)*dT;  in predict()