void ahrs_update_mag(void) { #if AHRS_MAG_UPDATE_ALL_AXES ahrs_update_mag_full(); #else ahrs_update_mag_2d(); #endif }
void ahrs_update_mag(void) { #ifdef AHRS_MAG_UPDATE_YAW_ONLY ahrs_update_mag_2d(); #else ahrs_update_mag_full(); #endif }
void ahrs_update_mag(float dt) { // check if we had at least one propagation since last update if (ahrs_impl.mag_cnt == 0) return; #if AHRS_MAG_UPDATE_ALL_AXES ahrs_update_mag_full(dt); #else ahrs_update_mag_2d(dt); #endif // reset mag propagation counter ahrs_impl.mag_cnt = 0; }