67 void initFusion(struct Fusion *fusion, uint32_t flags) {  in initFusion()
112 int fusionHasEstimate(const struct Fusion *fusion) {  in fusionHasEstimate()
119 static void updateDt(struct Fusion *fusion, float dT) {  in updateDt()
138 static int fusion_init_complete(struct Fusion *fusion, int what, const struct Vec3 *d, float dT) {  in fusion_init_complete()
246 static void fusionCheckState(struct Fusion *fusion) {  in fusionCheckState()
262 static void fusionPredict(struct Fusion *fusion, const struct Vec3 *w) {  in fusionPredict()
390 void fusionHandleGyro(struct Fusion *fusion, const struct Vec3 *w, float dT) {  in fusionHandleGyro()
432         struct Fusion *fusion, const struct Vec3 *z, const struct Vec3 *Bi, float sigma) {  in fusionUpdate()
514 int fusionHandleAcc(struct Fusion *fusion, const struct Vec3 *a, float dT) {  in fusionHandleAcc()
591 int fusionHandleMag(struct Fusion *fusion, const struct Vec3 *m, float dT) {  in fusionHandleMag()
664 void fusionSetMagTrust(struct Fusion *fusion, int mode) {  in fusionSetMagTrust()
682 void fusionGetAttitude(const struct Fusion *fusion, struct Vec4 *attitude) {  in fusionGetAttitude()
686 void fusionGetBias(const struct Fusion *fusion, struct Vec3 *bias) {  in fusionGetBias()
690 void fusionGetRotationMatrix(const struct Fusion *fusion, struct Mat33 *R) {  in fusionGetRotationMatrix()