void UserHighFrequencyTaskInit(void)
{
// User code to be executed ONE TIME the first time the high
// frequency task is run.
//
// PUT YOUR CODE HERE
//
fInitFusion();
globals.QuaternionPacketType = Q9;
fInitMagCalibration(&thisMagCal, &thisMagBuffer);
return;
}
// function initializes the sensor fusion and magnetic calibration and sets loopcounter to zero
void Fusion_Init(void)
{
// magnetic DOF: reset magnetic calibration and magnetometer data buffer (not needed for 3DOF)
#if defined COMPUTE_3DOF_B_BASIC || defined COMPUTE_6DOF_GB_BASIC || defined COMPUTE_9DOF_GBY_KALMAN
fInitMagCalibration(&thisMagCal, &thisMagBuffer);
#endif
// reset the default quaternion type to the simplest Q3 (it will be updated during the initializations)
globals.DefaultQuaternionPacketType = Q3;
// force a reset of all the algorithms next time they execute
// the initialization will result in the default and current quaternion being set to the most sophisticated
// algorithm supported by the build
#if defined COMPUTE_1DOF_P_BASIC
thisSV_1DOF_P_BASIC.resetflag = true;
#endif
#if defined COMPUTE_3DOF_G_BASIC
thisSV_3DOF_G_BASIC.resetflag = true;
#endif
#if defined COMPUTE_3DOF_B_BASIC
thisSV_3DOF_B_BASIC.resetflag = true;
#endif
#if defined COMPUTE_3DOF_Y_BASIC
thisSV_3DOF_Y_BASIC.resetflag = true;
#endif
#if defined COMPUTE_6DOF_GB_BASIC
thisSV_6DOF_GB_BASIC.resetflag = true;
#endif
#if defined COMPUTE_6DOF_GY_KALMAN
thisSV_6DOF_GY_KALMAN.resetflag = true;
#endif
#if defined COMPUTE_9DOF_GBY_KALMAN
thisSV_9DOF_GBY_KALMAN.resetflag = true;
#endif
// reset the loop counter to zero for first iteration
globals.loopcounter = 0;
return;
}
