118 static void updateDt(struct Fusion *fusion, float dT) {  in updateDt()  argument
119     if (fabsf(fusion->mPredictDt - dT) > DELTA_TIME_MARGIN) {  in updateDt()
120         float dT2 = dT * dT;  in updateDt()
121         float dT3 = dT2 * dT;  in updateDt()
123         float q00 = fusion->param.gyro_var * dT +  in updateDt()
125         float q11 = fusion->param.gyro_bias_var * dT;  in updateDt()
133         fusion->mPredictDt = dT;  in updateDt()
137 static int fusion_init_complete(struct Fusion *fusion, int what, const struct Vec3 *d, float dT) {  in fusion_init_complete()  argument
146                 updateDt(fusion, dT);  in fusion_init_complete()
174             updateDt(fusion, dT);  in fusion_init_complete()
177             vec3ScalarMul(&scaledD, dT);  in fusion_init_complete()
262     const float dT = fusion->mPredictDt;  in fusionPredict()  local
274     initDiagonalMatrix(&I33dT, dT);  in fusionPredict()
288     float lwedT = norm_we * dT;  in fusionPredict()
389 void fusionHandleGyro(struct Fusion *fusion, const struct Vec3 *w, float dT) {  in fusionHandleGyro()  argument
390     if (!fusion_init_complete(fusion, GYRO, w, dT)) {  in fusionHandleGyro()
394     updateDt(fusion, dT);  in fusionHandleGyro()
513 int fusionHandleAcc(struct Fusion *fusion, const struct Vec3 *a, float dT) {  in fusionHandleAcc()  argument
514     if (!fusion_init_complete(fusion, ACC, a,  dT)) {  in fusionHandleAcc()
536         updateDt(fusion, dT);  in fusionHandleAcc()
544         (fusion->fake_mag_decimation += dT) > FAKE_MAG_INTERVAL) {  in fusionHandleAcc()
590 int fusionHandleMag(struct Fusion *fusion, const struct Vec3 *m, float dT) {  in fusionHandleMag()  argument
643                 fusion->trustedMagDuration -= dT;  in fusionHandleMag()