88         initVec4(&fusion->x0, 0.0f, 0.0f, 0.0f, 0.0f);  in initFusion()
219         initQuat(&fusion->x0, &R);  in fusion_init_complete()
264     Quat q = fusion->x0;  in fusionPredict()
344     mat44Apply(&fusion->x0, &O, &q);  in fusionPredict()
346     if (fusion->x0.w < 0.0f) {  in fusionPredict()
347         fusion->x0.x = -fusion->x0.x;  in fusionPredict()
348         fusion->x0.y = -fusion->x0.y;  in fusionPredict()
349         fusion->x0.z = -fusion->x0.z;  in fusionPredict()
350         fusion->x0.w = -fusion->x0.w;  in fusionPredict()
433     quatToMatrix(&A, &fusion->x0);  in fusionUpdate()
485     getF(F, &fusion->x0);  in fusionUpdate()
490     q.x = fusion->x0.x + 0.5f * (F[0].x * dq.x + F[1].x * dq.y + F[2].x * dq.z);  in fusionUpdate()
491     q.y = fusion->x0.y + 0.5f * (F[0].y * dq.x + F[1].y * dq.y + F[2].y * dq.z);  in fusionUpdate()
492     q.z = fusion->x0.z + 0.5f * (F[0].z * dq.x + F[1].z * dq.y + F[2].z * dq.z);  in fusionUpdate()
493     q.w = fusion->x0.w + 0.5f * (F[0].w * dq.x + F[1].w * dq.y + F[2].w * dq.z);  in fusionUpdate()
495     fusion->x0 = q;  in fusionUpdate()
496     quatNormalize(&fusion->x0);  in fusionUpdate()
682     *attitude = fusion->x0;  in fusionGetAttitude()
690     quatToMatrix(R, &fusion->x0);  in fusionGetRotationMatrix()