Jason,
I don't have models of the fusion library to offer today. The history is that we developed our original algorithms in Matlab, and translated to C. Since that time (several years ago), we've made all our changes directly in the C code. The reason being that with our visualization tools, we can generally replicate hours of Matlab work with a few hand gestures. So our code has diverged significantly from those original models way back.
We do have one additional capability which we haven't yet put into the public domain, but I've been considering it. Back when we were developing our algorithm in Matlab, we needed a way to define "objective truth" in terms of expected response of the algorithm. I built a Matlab library to model device trajectories and expected sensor readings. Since then, we've used that same library to feed those idealized readings into our boards, then pull the computed orientation back into Matlab for analysis. This is how we generated our datasheet parameters.
My trajectory simulation library was inspired by an academic project called IMUSim (you can google it). At that time, IMUSim required a very specific (and not easy to reproduce), so I wrote this as a pure Matlab library.
So now my question to you and "the community", would this be a useful capability for Freescale to release? If so, I'll have to pursue management approval, so it wouldn't happen immediately. But knowing there is need for such a thing can help expedite things.
Regards,
Mike
