inv_error_t inv_build_gyro(const short *gyro, inv_time_t timestamp);
inv_error_t inv_build_compass(const long *compass, int status, inv_time_t timestamp);
inv_error_t inv_build_accel(const long *accel, int status, inv_time_t timestamp);
inv_error_t inv_build_temp(const long temp, inv_time_t timestamp);
inv_error_t inv_build_quat(const long *quat, int status, inv_time_t timestamp);
inv_error_t inv_execute_on_data(void);//先调上面5个至少成功一个,再调用此函数
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