debug.h File Reference

ApplyPerturbation function used to analyze dynamic performance. More...

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Functions
void	ApplyPerturbation (SensorFusionGlobals *sfg)

Detailed Description

ApplyPerturbation function used to analyze dynamic performance.

The ApplyPerturbation function applies a user-specified step function to prior fusion results which is then "released" in the next fusion cycle. When used in conjustion with the NXP Sensor Fusion Toolbox, this provides a visual indication of the dynamic behavior of the library.

Definition in file debug.h.

Function Documentation

ApplyPerturbation()

void ApplyPerturbation

(

SensorFusionGlobals *

sfg

)

The ApplyPerturbation function applies a user-specified step function to prior fusion results which is then "released" in the next fusion cycle. When used in conjustion with the NXP Sensor Fusion Toolbox, this provides a visual indication of the dynamic behavior of the library. This function is normally involved via the "sfg." global pointer.

Definition at line 36 of file debug.c.

References F180OVERPI, SensorFusionGlobals::iPerturbation, ONEOVERSQRT2, SensorFusionGlobals::pControlSubsystem, Quaternion::q0, Quaternion::q1, Quaternion::q2, Quaternion::q3, Q3, Q3G, Q3M, Q6AG, Q6MA, Q9, qAeqAxB(), and ControlSubsystem::QuaternionPacketType.

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