Support batch update

Fusion/FusionAhrs.h

@@ -22,56 +22,56 @@
  * @brief AHRS algorithm settings.
  */
 typedef struct {
-    FusionConvention convention;
-    float gain;
-    float gyroscopeRange;
-    float accelerationRejection;
-    float magneticRejection;
-    unsigned int recoveryTriggerPeriod;
+  FusionConvention convention;
+  float gain;
+  float gyroscopeRange;
+  float accelerationRejection;
+  float magneticRejection;
+  unsigned int recoveryTriggerPeriod;
 } FusionAhrsSettings;
 
 /**
  * @brief AHRS algorithm structure.  Structure members are used internally and
  * must not be accessed by the application.
  */
 typedef struct {
-    FusionAhrsSettings settings;
-    FusionQuaternion quaternion;
-    FusionVector accelerometer;
-    bool initialising;
-    float rampedGain;
-    float rampedGainStep;
-    bool angularRateRecovery;
-    FusionVector halfAccelerometerFeedback;
-    FusionVector halfMagnetometerFeedback;
-    bool accelerometerIgnored;
-    int accelerationRecoveryTrigger;
-    int accelerationRecoveryTimeout;
-    bool magnetometerIgnored;
-    int magneticRecoveryTrigger;
-    int magneticRecoveryTimeout;
+  FusionAhrsSettings settings;
+  FusionQuaternion quaternion;
+  FusionVector accelerometer;
+  bool initialising;
+  float rampedGain;
+  float rampedGainStep;
+  bool angularRateRecovery;
+  FusionVector halfAccelerometerFeedback;
+  FusionVector halfMagnetometerFeedback;
+  bool accelerometerIgnored;
+  int accelerationRecoveryTrigger;
+  int accelerationRecoveryTimeout;
+  bool magnetometerIgnored;
+  int magneticRecoveryTrigger;
+  int magneticRecoveryTimeout;
 } FusionAhrs;
 
 /**
  * @brief AHRS algorithm internal states.
  */
 typedef struct {
-    float accelerationError;
-    bool accelerometerIgnored;
-    float accelerationRecoveryTrigger;
-    float magneticError;
-    bool magnetometerIgnored;
-    float magneticRecoveryTrigger;
+  float accelerationError;
+  bool accelerometerIgnored;
+  float accelerationRecoveryTrigger;
+  float magneticError;
+  bool magnetometerIgnored;
+  float magneticRecoveryTrigger;
 } FusionAhrsInternalStates;
 
 /**
  * @brief AHRS algorithm flags.
  */
 typedef struct {
-    bool initialising;
-    bool angularRateRecovery;
-    bool accelerationRecovery;
-    bool magneticRecovery;
+  bool initialising;
+  bool angularRateRecovery;
+  bool accelerationRecovery;
+  bool magneticRecovery;
 } FusionAhrsFlags;
 
 //------------------------------------------------------------------------------
@@ -83,11 +83,16 @@ void FusionAhrsReset(FusionAhrs *const ahrs);
 
 void FusionAhrsSetSettings(FusionAhrs *const ahrs, const FusionAhrsSettings *const settings);
 
-void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const FusionVector magnetometer, const float deltaTime);
+void FusionAhrsUpdate(FusionAhrs *const ahrs, const FusionVector gyroscope,
+                      const FusionVector accelerometer, const FusionVector magnetometer,
+                      const float deltaTime);
 
-void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float deltaTime);
+void FusionAhrsUpdateNoMagnetometer(FusionAhrs *const ahrs, const FusionVector gyroscope,
+                                    const FusionVector accelerometer, const float deltaTime);
 
-void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope, const FusionVector accelerometer, const float heading, const float deltaTime);
+void FusionAhrsUpdateExternalHeading(FusionAhrs *const ahrs, const FusionVector gyroscope,
+                                     const FusionVector accelerometer, const float heading,
+                                     const float deltaTime);
 
 FusionQuaternion FusionAhrsGetQuaternion(const FusionAhrs *const ahrs);