/*
* function [eulerAngles,Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter_wo(updateVect,dt,z,x_aposteriori_k,P_aposteriori_k,q,r)
*/
void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T
P_aposteriori_k[144], const real32_T q[12], real32_T r[9], real32_T
eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T
P_aposteriori[144])
{
real32_T wak[3];
real32_T O[9];
real_T dv0[9];
real32_T a[9];
int32_T i;
real32_T b_a[9];
real32_T x_n_b[3];
real32_T b_x_aposteriori_k[3];
real32_T z_n_b[3];
real32_T c_a[3];
real32_T d_a[3];
int32_T i0;
real32_T x_apriori[12];
real_T dv1[144];
real32_T A_lin[144];
static const int8_T iv0[36] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
real32_T b_A_lin[144];
real32_T b_q[144];
real32_T c_A_lin[144];
real32_T d_A_lin[144];
real32_T e_A_lin[144];
int32_T i1;
real32_T P_apriori[144];
real32_T b_P_apriori[108];
static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1
};
real32_T K_k[108];
real32_T fv0[81];
static const int8_T iv2[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1
};
real32_T b_r[81];
real32_T fv1[81];
real32_T f0;
real32_T c_P_apriori[36];
static const int8_T iv3[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
real32_T fv2[36];
static const int8_T iv4[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
};
real32_T c_r[9];
real32_T b_K_k[36];
real32_T d_P_apriori[72];
static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0
};
real32_T c_K_k[72];
static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0
};
real32_T b_z[6];
static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1
};
static const int8_T iv8[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 1
};
real32_T fv3[6];
real32_T c_z[6];
/* Extended Attitude Kalmanfilter */
/* */
/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
/* measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]' */
/* knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
/* */
/* [x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) */
/* */
/* Example.... */
/* */
/* $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $ */
/* coder.varsize('udpIndVect', [9,1], [1,0]) */
/* udpIndVect=find(updVect); */
/* process and measurement noise covariance matrix */
/* Q = diag(q.^2*dt); */
/* observation matrix */
/* 'attitudeKalmanfilter:33' wx= x_aposteriori_k(1); */
/* 'attitudeKalmanfilter:34' wy= x_aposteriori_k(2); */
/* 'attitudeKalmanfilter:35' wz= x_aposteriori_k(3); */
/* 'attitudeKalmanfilter:37' wax= x_aposteriori_k(4); */
/* 'attitudeKalmanfilter:38' way= x_aposteriori_k(5); */
/* 'attitudeKalmanfilter:39' waz= x_aposteriori_k(6); */
/* 'attitudeKalmanfilter:41' zex= x_aposteriori_k(7); */
/* 'attitudeKalmanfilter:42' zey= x_aposteriori_k(8); */
/* 'attitudeKalmanfilter:43' zez= x_aposteriori_k(9); */
/* 'attitudeKalmanfilter:45' mux= x_aposteriori_k(10); */
/* 'attitudeKalmanfilter:46' muy= x_aposteriori_k(11); */
/* 'attitudeKalmanfilter:47' muz= x_aposteriori_k(12); */
/* % prediction section */
/* body angular accelerations */
/* 'attitudeKalmanfilter:51' wak =[wax;way;waz]; */
wak[0] = x_aposteriori_k[3];
wak[1] = x_aposteriori_k[4];
wak[2] = x_aposteriori_k[5];
/* body angular rates */
/* 'attitudeKalmanfilter:54' wk =[wx; wy; wz] + dt*wak; */
/* derivative of the prediction rotation matrix */
/* 'attitudeKalmanfilter:57' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
O[0] = 0.0F;
O[1] = -x_aposteriori_k[2];
O[2] = x_aposteriori_k[1];
O[3] = x_aposteriori_k[2];
O[4] = 0.0F;
O[5] = -x_aposteriori_k[0];
O[6] = -x_aposteriori_k[1];
O[7] = x_aposteriori_k[0];
O[8] = 0.0F;
/* prediction of the earth z vector */
/* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
eye(dv0);
for (i = 0; i < 9; i++) {
a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* prediction of the magnetic vector */
/* 'attitudeKalmanfilter:63' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
eye(dv0);
for (i = 0; i < 9; i++) {
b_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:65' EZ=[0,zez,-zey; */
/* 'attitudeKalmanfilter:66' -zez,0,zex; */
/* 'attitudeKalmanfilter:67' zey,-zex,0]'; */
/* 'attitudeKalmanfilter:68' MA=[0,muz,-muy; */
/* 'attitudeKalmanfilter:69' -muz,0,mux; */
/* 'attitudeKalmanfilter:70' zey,-mux,0]'; */
/* 'attitudeKalmanfilter:74' E=eye(3); */
/* 'attitudeKalmanfilter:76' Z=zeros(3); */
/* 'attitudeKalmanfilter:77' x_apriori=[wk;wak;zek;muk]; */
x_n_b[0] = x_aposteriori_k[0];
x_n_b[1] = x_aposteriori_k[1];
x_n_b[2] = x_aposteriori_k[2];
b_x_aposteriori_k[0] = x_aposteriori_k[6];
b_x_aposteriori_k[1] = x_aposteriori_k[7];
b_x_aposteriori_k[2] = x_aposteriori_k[8];
z_n_b[0] = x_aposteriori_k[9];
z_n_b[1] = x_aposteriori_k[10];
z_n_b[2] = x_aposteriori_k[11];
for (i = 0; i < 3; i++) {
c_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
c_a[i] += a[i + 3 * i0] * b_x_aposteriori_k[i0];
}
d_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
d_a[i] += b_a[i + 3 * i0] * z_n_b[i0];
}
x_apriori[i] = x_n_b[i] + dt * wak[i];
}
for (i = 0; i < 3; i++) {
x_apriori[i + 3] = wak[i];
}
for (i = 0; i < 3; i++) {
x_apriori[i + 6] = c_a[i];
}
for (i = 0; i < 3; i++) {
x_apriori[i + 9] = d_a[i];
}
/* 'attitudeKalmanfilter:81' A_lin=[ Z, E, Z, Z */
/* 'attitudeKalmanfilter:82' Z, Z, Z, Z */
/* 'attitudeKalmanfilter:83' EZ, Z, O, Z */
/* 'attitudeKalmanfilter:84' MA, Z, Z, O]; */
/* 'attitudeKalmanfilter:86' A_lin=eye(12)+A_lin*dt; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[i0 + 12 * i] = (real32_T)iv0[i0 + 3 * i];
}
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * i) + 3] = 0.0F;
}
}
A_lin[6] = 0.0F;
A_lin[7] = x_aposteriori_k[8];
A_lin[8] = -x_aposteriori_k[7];
A_lin[18] = -x_aposteriori_k[8];
A_lin[19] = 0.0F;
A_lin[20] = x_aposteriori_k[6];
A_lin[30] = x_aposteriori_k[7];
A_lin[31] = -x_aposteriori_k[6];
A_lin[32] = 0.0F;
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 3)) + 6] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 6)) + 6] = O[i0 + 3 * i];
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 9)) + 6] = 0.0F;
}
}
A_lin[9] = 0.0F;
A_lin[10] = x_aposteriori_k[11];
A_lin[11] = -x_aposteriori_k[10];
A_lin[21] = -x_aposteriori_k[11];
A_lin[22] = 0.0F;
A_lin[23] = x_aposteriori_k[9];
A_lin[33] = x_aposteriori_k[7];
A_lin[34] = -x_aposteriori_k[9];
A_lin[35] = 0.0F;
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 3)) + 9] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 6)) + 9] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 9)) + 9] = O[i0 + 3 * i];
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
b_A_lin[i0 + 12 * i] = (real32_T)dv1[i0 + 12 * i] + A_lin[i0 + 12 * i] *
dt;
}
}
/* 'attitudeKalmanfilter:88' Qtemp=[ q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:89' 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:90' 0, 0, q(1), 0, 0, 0, 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:91' 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:92' 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:93' 0, 0, 0, 0, 0, q(2), 0, 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:94' 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:95' 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0, 0; */
/* 'attitudeKalmanfilter:96' 0, 0, 0, 0, 0, 0, 0, 0, q(3), 0, 0, 0; */
/* 'attitudeKalmanfilter:97' 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0, 0; */
/* 'attitudeKalmanfilter:98' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4), 0; */
/* 'attitudeKalmanfilter:99' 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, q(4)]; */
/* 'attitudeKalmanfilter:103' Q=A_lin*Qtemp*A_lin'; */
/* 'attitudeKalmanfilter:106' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
b_q[0] = q[0];
b_q[12] = 0.0F;
b_q[24] = 0.0F;
b_q[36] = 0.0F;
b_q[48] = 0.0F;
b_q[60] = 0.0F;
b_q[72] = 0.0F;
b_q[84] = 0.0F;
b_q[96] = 0.0F;
b_q[108] = 0.0F;
b_q[120] = 0.0F;
b_q[132] = 0.0F;
b_q[1] = 0.0F;
b_q[13] = q[0];
b_q[25] = 0.0F;
b_q[37] = 0.0F;
b_q[49] = 0.0F;
b_q[61] = 0.0F;
b_q[73] = 0.0F;
b_q[85] = 0.0F;
b_q[97] = 0.0F;
b_q[109] = 0.0F;
b_q[121] = 0.0F;
b_q[133] = 0.0F;
b_q[2] = 0.0F;
b_q[14] = 0.0F;
b_q[26] = q[0];
b_q[38] = 0.0F;
b_q[50] = 0.0F;
b_q[62] = 0.0F;
b_q[74] = 0.0F;
b_q[86] = 0.0F;
b_q[98] = 0.0F;
b_q[110] = 0.0F;
b_q[122] = 0.0F;
b_q[134] = 0.0F;
b_q[3] = 0.0F;
b_q[15] = 0.0F;
b_q[27] = 0.0F;
b_q[39] = q[1];
b_q[51] = 0.0F;
b_q[63] = 0.0F;
b_q[75] = 0.0F;
b_q[87] = 0.0F;
b_q[99] = 0.0F;
b_q[111] = 0.0F;
b_q[123] = 0.0F;
b_q[135] = 0.0F;
b_q[4] = 0.0F;
b_q[16] = 0.0F;
b_q[28] = 0.0F;
b_q[40] = 0.0F;
b_q[52] = q[1];
b_q[64] = 0.0F;
b_q[76] = 0.0F;
b_q[88] = 0.0F;
b_q[100] = 0.0F;
b_q[112] = 0.0F;
b_q[124] = 0.0F;
b_q[136] = 0.0F;
b_q[5] = 0.0F;
b_q[17] = 0.0F;
b_q[29] = 0.0F;
b_q[41] = 0.0F;
b_q[53] = 0.0F;
b_q[65] = q[1];
b_q[77] = 0.0F;
b_q[89] = 0.0F;
b_q[101] = 0.0F;
b_q[113] = 0.0F;
b_q[125] = 0.0F;
b_q[137] = 0.0F;
b_q[6] = 0.0F;
b_q[18] = 0.0F;
b_q[30] = 0.0F;
b_q[42] = 0.0F;
b_q[54] = 0.0F;
b_q[66] = 0.0F;
b_q[78] = q[2];
b_q[90] = 0.0F;
b_q[102] = 0.0F;
b_q[114] = 0.0F;
b_q[126] = 0.0F;
b_q[138] = 0.0F;
b_q[7] = 0.0F;
b_q[19] = 0.0F;
b_q[31] = 0.0F;
b_q[43] = 0.0F;
b_q[55] = 0.0F;
b_q[67] = 0.0F;
b_q[79] = 0.0F;
b_q[91] = q[2];
b_q[103] = 0.0F;
b_q[115] = 0.0F;
b_q[127] = 0.0F;
b_q[139] = 0.0F;
b_q[8] = 0.0F;
b_q[20] = 0.0F;
b_q[32] = 0.0F;
b_q[44] = 0.0F;
b_q[56] = 0.0F;
b_q[68] = 0.0F;
b_q[80] = 0.0F;
b_q[92] = 0.0F;
b_q[104] = q[2];
b_q[116] = 0.0F;
b_q[128] = 0.0F;
b_q[140] = 0.0F;
b_q[9] = 0.0F;
b_q[21] = 0.0F;
b_q[33] = 0.0F;
b_q[45] = 0.0F;
b_q[57] = 0.0F;
b_q[69] = 0.0F;
b_q[81] = 0.0F;
b_q[93] = 0.0F;
b_q[105] = 0.0F;
b_q[117] = q[3];
b_q[129] = 0.0F;
b_q[141] = 0.0F;
b_q[10] = 0.0F;
b_q[22] = 0.0F;
b_q[34] = 0.0F;
b_q[46] = 0.0F;
b_q[58] = 0.0F;
b_q[70] = 0.0F;
b_q[82] = 0.0F;
b_q[94] = 0.0F;
b_q[106] = 0.0F;
b_q[118] = 0.0F;
b_q[130] = q[3];
b_q[142] = 0.0F;
b_q[11] = 0.0F;
b_q[23] = 0.0F;
b_q[35] = 0.0F;
b_q[47] = 0.0F;
b_q[59] = 0.0F;
b_q[71] = 0.0F;
b_q[83] = 0.0F;
b_q[95] = 0.0F;
b_q[107] = 0.0F;
b_q[119] = 0.0F;
b_q[131] = 0.0F;
b_q[143] = q[3];
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 *
i0];
}
c_A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * b_q[i1 + 12 * i0];
}
}
for (i0 = 0; i0 < 12; i0++) {
d_A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_A_lin[i + 12 * i0] += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
e_A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
e_A_lin[i + 12 * i0] += c_A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_apriori[i0 + 12 * i] = d_A_lin[i0 + 12 * i] + e_A_lin[i0 + 12 * i];
}
}
/* % update */
/* 'attitudeKalmanfilter:110' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
/* 'attitudeKalmanfilter:111' if z(6)<4 || z(5)>15 */
if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
/* 'attitudeKalmanfilter:112' r(2)=10000; */
r[1] = 10000.0F;
}
/* 'attitudeKalmanfilter:114' R=[r(1),0,0,0,0,0,0,0,0; */
/* 'attitudeKalmanfilter:115' 0,r(1),0,0,0,0,0,0,0; */
/* 'attitudeKalmanfilter:116' 0,0,r(1),0,0,0,0,0,0; */
/* 'attitudeKalmanfilter:117' 0,0,0,r(2),0,0,0,0,0; */
/* 'attitudeKalmanfilter:118' 0,0,0,0,r(2),0,0,0,0; */
/* 'attitudeKalmanfilter:119' 0,0,0,0,0,r(2),0,0,0; */
/* 'attitudeKalmanfilter:120' 0,0,0,0,0,0,r(3),0,0; */
/* 'attitudeKalmanfilter:121' 0,0,0,0,0,0,0,r(3),0; */
/* 'attitudeKalmanfilter:122' 0,0,0,0,0,0,0,0,r(3)]; */
/* observation matrix */
/* [zw;ze;zmk]; */
/* 'attitudeKalmanfilter:125' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:126' Z, Z, E, Z; */
/* 'attitudeKalmanfilter:127' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:129' y_k=z(1:9)-H_k*x_apriori; */
/* 'attitudeKalmanfilter:132' S_k=H_k*P_apriori*H_k'+R; */
/* 'attitudeKalmanfilter:133' K_k=(P_apriori*H_k'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 9; i0++) {
b_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv1[i1
+ 12 * i0];
}
}
}
for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 12; i0++) {
K_k[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
K_k[i + 9 * i0] += (real32_T)iv2[i + 9 * i1] * P_apriori[i1 + 12 * i0];
}
}
for (i0 = 0; i0 < 9; i0++) {
fv0[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
fv0[i + 9 * i0] += K_k[i + 9 * i1] * (real32_T)iv1[i1 + 12 * i0];
}
}
}
b_r[0] = r[0];
b_r[9] = 0.0F;
b_r[18] = 0.0F;
b_r[27] = 0.0F;
b_r[36] = 0.0F;
b_r[45] = 0.0F;
b_r[54] = 0.0F;
b_r[63] = 0.0F;
b_r[72] = 0.0F;
b_r[1] = 0.0F;
b_r[10] = r[0];
b_r[19] = 0.0F;
b_r[28] = 0.0F;
b_r[37] = 0.0F;
b_r[46] = 0.0F;
b_r[55] = 0.0F;
b_r[64] = 0.0F;
b_r[73] = 0.0F;
b_r[2] = 0.0F;
b_r[11] = 0.0F;
b_r[20] = r[0];
b_r[29] = 0.0F;
b_r[38] = 0.0F;
b_r[47] = 0.0F;
b_r[56] = 0.0F;
b_r[65] = 0.0F;
b_r[74] = 0.0F;
b_r[3] = 0.0F;
b_r[12] = 0.0F;
b_r[21] = 0.0F;
b_r[30] = r[1];
b_r[39] = 0.0F;
b_r[48] = 0.0F;
b_r[57] = 0.0F;
b_r[66] = 0.0F;
b_r[75] = 0.0F;
b_r[4] = 0.0F;
b_r[13] = 0.0F;
b_r[22] = 0.0F;
b_r[31] = 0.0F;
b_r[40] = r[1];
b_r[49] = 0.0F;
b_r[58] = 0.0F;
b_r[67] = 0.0F;
b_r[76] = 0.0F;
b_r[5] = 0.0F;
b_r[14] = 0.0F;
b_r[23] = 0.0F;
b_r[32] = 0.0F;
b_r[41] = 0.0F;
b_r[50] = r[1];
b_r[59] = 0.0F;
b_r[68] = 0.0F;
b_r[77] = 0.0F;
b_r[6] = 0.0F;
b_r[15] = 0.0F;
b_r[24] = 0.0F;
b_r[33] = 0.0F;
b_r[42] = 0.0F;
b_r[51] = 0.0F;
b_r[60] = r[2];
b_r[69] = 0.0F;
b_r[78] = 0.0F;
b_r[7] = 0.0F;
b_r[16] = 0.0F;
b_r[25] = 0.0F;
b_r[34] = 0.0F;
b_r[43] = 0.0F;
b_r[52] = 0.0F;
b_r[61] = 0.0F;
b_r[70] = r[2];
b_r[79] = 0.0F;
b_r[8] = 0.0F;
b_r[17] = 0.0F;
b_r[26] = 0.0F;
b_r[35] = 0.0F;
b_r[44] = 0.0F;
b_r[53] = 0.0F;
b_r[62] = 0.0F;
b_r[71] = 0.0F;
b_r[80] = r[2];
for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 9; i0++) {
fv1[i0 + 9 * i] = fv0[i0 + 9 * i] + b_r[i0 + 9 * i];
}
}
mrdivide(b_P_apriori, fv1, K_k);
/* 'attitudeKalmanfilter:136' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 9; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
f0 += (real32_T)iv2[i + 9 * i0] * x_apriori[i0];
}
O[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 9; i0++) {
f0 += K_k[i + 12 * i0] * O[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:137' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 9; i1++) {
f0 += K_k[i + 12 * i1] * (real32_T)iv2[i1 + 9 * i0];
}
b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12
* i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:138' else */
/* 'attitudeKalmanfilter:139' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
/* 'attitudeKalmanfilter:141' R=[r(1),0,0; */
/* 'attitudeKalmanfilter:142' 0,r(1),0; */
/* 'attitudeKalmanfilter:143' 0,0,r(1)]; */
/* observation matrix */
/* 'attitudeKalmanfilter:146' H_k=[ E, Z, Z, Z]; */
/* 'attitudeKalmanfilter:148' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:150' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
/* 'attitudeKalmanfilter:151' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
c_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv3[i1 + 12 * i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 12; i0++) {
fv2[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
fv2[i + 3 * i0] += (real32_T)iv4[i + 3 * i1] * P_apriori[i1 + 12 *
i0];
}
}
for (i0 = 0; i0 < 3; i0++) {
O[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
O[i + 3 * i0] += fv2[i + 3 * i1] * (real32_T)iv3[i1 + 12 * i0];
}
}
}
c_r[0] = r[0];
c_r[3] = 0.0F;
c_r[6] = 0.0F;
c_r[1] = 0.0F;
c_r[4] = r[0];
c_r[7] = 0.0F;
c_r[2] = 0.0F;
c_r[5] = 0.0F;
c_r[8] = r[0];
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
a[i0 + 3 * i] = O[i0 + 3 * i] + c_r[i0 + 3 * i];
}
}
b_mrdivide(c_P_apriori, a, b_K_k);
/* 'attitudeKalmanfilter:154' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
f0 += (real32_T)iv4[i + 3 * i0] * x_apriori[i0];
}
x_n_b[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
f0 += b_K_k[i + 12 * i0] * x_n_b[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:155' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
f0 += b_K_k[i + 12 * i1] * (real32_T)iv4[i1 + 3 * i0];
}
b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 +
12 * i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:156' else */
/* 'attitudeKalmanfilter:157' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
{
/* 'attitudeKalmanfilter:158' if z(6)<4 || z(5)>15 */
if ((z[5] < 4.0F) || (z[4] > 15.0F)) {
/* 'attitudeKalmanfilter:159' r(2)=10000; */
r[1] = 10000.0F;
}
/* 'attitudeKalmanfilter:162' R=[r(1),0,0,0,0,0; */
/* 'attitudeKalmanfilter:163' 0,r(1),0,0,0,0; */
/* 'attitudeKalmanfilter:164' 0,0,r(1),0,0,0; */
/* 'attitudeKalmanfilter:165' 0,0,0,r(2),0,0; */
/* 'attitudeKalmanfilter:166' 0,0,0,0,r(2),0; */
/* 'attitudeKalmanfilter:167' 0,0,0,0,0,r(2)]; */
/* observation matrix */
/* 'attitudeKalmanfilter:170' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:171' Z, Z, E, Z]; */
/* 'attitudeKalmanfilter:173' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:175' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:176' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv5[i1 + 12 * i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 + 12
* i0];
}
}
for (i0 = 0; i0 < 6; i0++) {
fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv5[i1 + 12 * i0];
}
}
}
b_K_k[0] = r[0];
b_K_k[6] = 0.0F;
b_K_k[12] = 0.0F;
b_K_k[18] = 0.0F;
b_K_k[24] = 0.0F;
b_K_k[30] = 0.0F;
b_K_k[1] = 0.0F;
b_K_k[7] = r[0];
b_K_k[13] = 0.0F;
b_K_k[19] = 0.0F;
b_K_k[25] = 0.0F;
b_K_k[31] = 0.0F;
b_K_k[2] = 0.0F;
b_K_k[8] = 0.0F;
b_K_k[14] = r[0];
b_K_k[20] = 0.0F;
b_K_k[26] = 0.0F;
b_K_k[32] = 0.0F;
b_K_k[3] = 0.0F;
b_K_k[9] = 0.0F;
b_K_k[15] = 0.0F;
b_K_k[21] = r[1];
b_K_k[27] = 0.0F;
b_K_k[33] = 0.0F;
b_K_k[4] = 0.0F;
b_K_k[10] = 0.0F;
b_K_k[16] = 0.0F;
b_K_k[22] = 0.0F;
b_K_k[28] = r[1];
b_K_k[34] = 0.0F;
b_K_k[5] = 0.0F;
b_K_k[11] = 0.0F;
b_K_k[17] = 0.0F;
b_K_k[23] = 0.0F;
b_K_k[29] = 0.0F;
b_K_k[35] = r[1];
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
}
}
c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
/* 'attitudeKalmanfilter:179' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 6; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
f0 += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
}
b_z[i] = z[i] - f0;
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
f0 += c_K_k[i + 12 * i0] * b_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:180' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
f0 += c_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1
+ 12 * i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:181' else */
/* 'attitudeKalmanfilter:182' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1))
{
/* 'attitudeKalmanfilter:183' R=[r(1),0,0,0,0,0; */
/* 'attitudeKalmanfilter:184' 0,r(1),0,0,0,0; */
/* 'attitudeKalmanfilter:185' 0,0,r(1),0,0,0; */
/* 'attitudeKalmanfilter:186' 0,0,0,r(3),0,0; */
/* 'attitudeKalmanfilter:187' 0,0,0,0,r(3),0; */
/* 'attitudeKalmanfilter:188' 0,0,0,0,0,r(3)]; */
/* observation matrix */
/* 'attitudeKalmanfilter:191' H_k=[ E, Z, Z, Z; */
/* 'attitudeKalmanfilter:192' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:194' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:196' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:197' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv7[i1 + 12 * i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
c_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_K_k[i + 6 * i0] += (real32_T)iv8[i + 6 * i1] * P_apriori[i1 +
12 * i0];
}
}
for (i0 = 0; i0 < 6; i0++) {
fv2[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
fv2[i + 6 * i0] += c_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 *
i0];
}
}
}
b_K_k[0] = r[0];
b_K_k[6] = 0.0F;
b_K_k[12] = 0.0F;
b_K_k[18] = 0.0F;
b_K_k[24] = 0.0F;
b_K_k[30] = 0.0F;
b_K_k[1] = 0.0F;
b_K_k[7] = r[0];
b_K_k[13] = 0.0F;
b_K_k[19] = 0.0F;
b_K_k[25] = 0.0F;
b_K_k[31] = 0.0F;
b_K_k[2] = 0.0F;
b_K_k[8] = 0.0F;
b_K_k[14] = r[0];
b_K_k[20] = 0.0F;
b_K_k[26] = 0.0F;
b_K_k[32] = 0.0F;
b_K_k[3] = 0.0F;
b_K_k[9] = 0.0F;
b_K_k[15] = 0.0F;
b_K_k[21] = r[2];
b_K_k[27] = 0.0F;
b_K_k[33] = 0.0F;
b_K_k[4] = 0.0F;
b_K_k[10] = 0.0F;
b_K_k[16] = 0.0F;
b_K_k[22] = 0.0F;
b_K_k[28] = r[2];
b_K_k[34] = 0.0F;
b_K_k[5] = 0.0F;
b_K_k[11] = 0.0F;
b_K_k[17] = 0.0F;
b_K_k[23] = 0.0F;
b_K_k[29] = 0.0F;
b_K_k[35] = r[2];
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
c_P_apriori[i0 + 6 * i] = fv2[i0 + 6 * i] + b_K_k[i0 + 6 * i];
}
}
c_mrdivide(d_P_apriori, c_P_apriori, c_K_k);
/* 'attitudeKalmanfilter:200' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
b_z[i] = z[i];
}
for (i = 0; i < 3; i++) {
b_z[i + 3] = z[i + 6];
}
for (i = 0; i < 6; i++) {
fv3[i] = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
fv3[i] += (real32_T)iv8[i + 6 * i0] * x_apriori[i0];
}
c_z[i] = b_z[i] - fv3[i];
}
for (i = 0; i < 12; i++) {
f0 = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
f0 += c_K_k[i + 12 * i0] * c_z[i0];
}
x_aposteriori[i] = x_apriori[i] + f0;
}
/* 'attitudeKalmanfilter:201' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
f0 = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
f0 += c_K_k[i + 12 * i1] * (real32_T)iv8[i1 + 6 * i0];
}
b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] *
P_apriori[i1 + 12 * i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:202' else */
/* 'attitudeKalmanfilter:203' x_aposteriori=x_apriori; */
for (i = 0; i < 12; i++) {
x_aposteriori[i] = x_apriori[i];
}
/* 'attitudeKalmanfilter:204' P_aposteriori=P_apriori; */
memcpy(&P_aposteriori[0], &P_apriori[0], 144U * sizeof(real32_T));
}
}
}
}
/* % euler anglels extraction */
/* 'attitudeKalmanfilter:213' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
for (i = 0; i < 3; i++) {
x_n_b[i] = -x_aposteriori[i + 6];
}
rdivide(x_n_b, norm(*(real32_T (*)[3])&x_aposteriori[6]), z_n_b);
/* 'attitudeKalmanfilter:214' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
rdivide(*(real32_T (*)[3])&x_aposteriori[9], norm(*(real32_T (*)[3])&
x_aposteriori[9]), wak);
/* 'attitudeKalmanfilter:216' y_n_b=cross(z_n_b,m_n_b); */
for (i = 0; i < 3; i++) {
x_n_b[i] = wak[i];
}
cross(z_n_b, x_n_b, wak);
/* 'attitudeKalmanfilter:217' y_n_b=y_n_b./norm(y_n_b); */
for (i = 0; i < 3; i++) {
x_n_b[i] = wak[i];
}
rdivide(x_n_b, norm(wak), wak);
/* 'attitudeKalmanfilter:219' x_n_b=(cross(y_n_b,z_n_b)); */
cross(wak, z_n_b, x_n_b);
/* 'attitudeKalmanfilter:220' x_n_b=x_n_b./norm(x_n_b); */
for (i = 0; i < 3; i++) {
b_x_aposteriori_k[i] = x_n_b[i];
}
rdivide(b_x_aposteriori_k, norm(x_n_b), x_n_b);
/* 'attitudeKalmanfilter:226' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
for (i = 0; i < 3; i++) {
Rot_matrix[i] = x_n_b[i];
Rot_matrix[3 + i] = wak[i];
Rot_matrix[6 + i] = z_n_b[i];
}
/* 'attitudeKalmanfilter:230' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
/* 'attitudeKalmanfilter:231' theta=-asin(Rot_matrix(1,3)); */
/* 'attitudeKalmanfilter:232' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
/* 'attitudeKalmanfilter:233' eulerAngles=[phi;theta;psi]; */
eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
}
/*
* function [eulerAngles,Rot_matrix,x_aposteriori,P_aposteriori] = attitudeKalmanfilter_wo(updateVect,dt,z,x_aposteriori_k,P_aposteriori_k,q,r)
*/
void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
real32_T z[9], const real32_T x_aposteriori_k[12], const real32_T
P_aposteriori_k[144], const real32_T q[12], const real32_T r[9], real32_T
eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T
P_aposteriori[144])
{
real32_T a[12];
int32_T i;
real32_T b_a[12];
real32_T Q[144];
real32_T O[9];
real_T dv0[9];
real32_T c_a[9];
real32_T d_a[9];
real32_T x_n_b[3];
real32_T z_n_b[3];
real32_T x_apriori[12];
real32_T y_n_b[3];
int32_T i0;
real32_T e_a[3];
real_T dv1[144];
real32_T A_lin[144];
real32_T b_A_lin[144];
int32_T i1;
real32_T y;
real32_T P_apriori[144];
real32_T R[81];
real32_T b_P_apriori[108];
static const int8_T iv0[108] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
real32_T K_k[108];
static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };
real32_T fv0[81];
real32_T c_P_apriori[36];
static const int8_T iv2[36] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0 };
real32_T fv1[36];
static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0,
0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
real32_T S_k[36];
real32_T d_P_apriori[72];
static const int8_T iv4[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0 };
real32_T b_K_k[72];
static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0,
0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0 };
real32_T b_r[6];
static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,
0, 0, 0, 1 };
static const int8_T iv7[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1 };
real32_T fv2[6];
real32_T b_z[6];
real32_T b_y;
/* Extended Attitude Kalmanfilter */
/* */
/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
/* measurement vector z has the following entries [ax,ay,az||mx,my,mz||wmx,wmy,wmz]' */
/* knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
/* */
/* [x_aposteriori,P_aposteriori] = AttKalman(dt,z_k,x_aposteriori_k,P_aposteriori_k,knownConst) */
/* */
/* Example.... */
/* */
/* $Author: Tobias Naegeli $ $Date: 2012 $ $Revision: 1 $ */
/* coder.varsize('udpIndVect', [9,1], [1,0]) */
/* udpIndVect=find(updVect); */
/* process and measurement noise covariance matrix */
/* 'attitudeKalmanfilter:27' Q = diag(q.^2*dt); */
power(q, 2.0, a);
for (i = 0; i < 12; i++) {
b_a[i] = a[i] * dt;
}
diag(b_a, Q);
/* observation matrix */
/* 'attitudeKalmanfilter:37' wx= x_aposteriori_k(1); */
/* 'attitudeKalmanfilter:38' wy= x_aposteriori_k(2); */
/* 'attitudeKalmanfilter:39' wz= x_aposteriori_k(3); */
/* 'attitudeKalmanfilter:41' wox= x_aposteriori_k(4); */
/* 'attitudeKalmanfilter:42' woy= x_aposteriori_k(5); */
/* 'attitudeKalmanfilter:43' woz= x_aposteriori_k(6); */
/* 'attitudeKalmanfilter:45' zex= x_aposteriori_k(7); */
/* 'attitudeKalmanfilter:46' zey= x_aposteriori_k(8); */
/* 'attitudeKalmanfilter:47' zez= x_aposteriori_k(9); */
/* 'attitudeKalmanfilter:49' mux= x_aposteriori_k(10); */
/* 'attitudeKalmanfilter:50' muy= x_aposteriori_k(11); */
/* 'attitudeKalmanfilter:51' muz= x_aposteriori_k(12); */
/* 'attitudeKalmanfilter:54' wk =[wx; */
/* 'attitudeKalmanfilter:55' wy; */
/* 'attitudeKalmanfilter:56' wz]; */
/* 'attitudeKalmanfilter:58' wok =[wox;woy;woz]; */
/* 'attitudeKalmanfilter:59' O=[0,-wz,wy;wz,0,-wx;-wy,wx,0]'; */
O[0] = 0.0F;
O[1] = -x_aposteriori_k[2];
O[2] = x_aposteriori_k[1];
O[3] = x_aposteriori_k[2];
O[4] = 0.0F;
O[5] = -x_aposteriori_k[0];
O[6] = -x_aposteriori_k[1];
O[7] = x_aposteriori_k[0];
O[8] = 0.0F;
/* 'attitudeKalmanfilter:60' zek =(eye(3)+O*dt)*[zex;zey;zez]; */
eye(dv0);
for (i = 0; i < 9; i++) {
c_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:61' muk =(eye(3)+O*dt)*[mux;muy;muz]; */
eye(dv0);
for (i = 0; i < 9; i++) {
d_a[i] = (real32_T)dv0[i] + O[i] * dt;
}
/* 'attitudeKalmanfilter:63' EZ=[0,zez,-zey; */
/* 'attitudeKalmanfilter:64' -zez,0,zex; */
/* 'attitudeKalmanfilter:65' zey,-zex,0]'; */
/* 'attitudeKalmanfilter:66' MA=[0,muz,-muy; */
/* 'attitudeKalmanfilter:67' -muz,0,mux; */
/* 'attitudeKalmanfilter:68' zey,-mux,0]'; */
/* 'attitudeKalmanfilter:72' E=eye(3); */
/* 'attitudeKalmanfilter:73' Z=zeros(3); */
/* 'attitudeKalmanfilter:74' x_apriori=[wk;wok;zek;muk]; */
x_n_b[0] = x_aposteriori_k[6];
x_n_b[1] = x_aposteriori_k[7];
x_n_b[2] = x_aposteriori_k[8];
z_n_b[0] = x_aposteriori_k[9];
z_n_b[1] = x_aposteriori_k[10];
z_n_b[2] = x_aposteriori_k[11];
x_apriori[0] = x_aposteriori_k[0];
x_apriori[1] = x_aposteriori_k[1];
x_apriori[2] = x_aposteriori_k[2];
x_apriori[3] = x_aposteriori_k[3];
x_apriori[4] = x_aposteriori_k[4];
x_apriori[5] = x_aposteriori_k[5];
for (i = 0; i < 3; i++) {
y_n_b[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
y_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];
}
e_a[i] = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
e_a[i] += d_a[i + 3 * i0] * z_n_b[i0];
}
x_apriori[i + 6] = y_n_b[i];
}
for (i = 0; i < 3; i++) {
x_apriori[i + 9] = e_a[i];
}
/* 'attitudeKalmanfilter:76' A_lin=[ Z, Z, Z, Z */
/* 'attitudeKalmanfilter:77' Z, Z, Z, Z */
/* 'attitudeKalmanfilter:78' EZ, Z, O, Z */
/* 'attitudeKalmanfilter:79' MA, Z, Z, O]; */
/* 'attitudeKalmanfilter:82' A_lin=eye(12)+A_lin*dt; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[i0 + 12 * i] = 0.0F;
}
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * i) + 3] = 0.0F;
}
}
A_lin[6] = 0.0F;
A_lin[7] = x_aposteriori_k[8];
A_lin[8] = -x_aposteriori_k[7];
A_lin[18] = -x_aposteriori_k[8];
A_lin[19] = 0.0F;
A_lin[20] = x_aposteriori_k[6];
A_lin[30] = x_aposteriori_k[7];
A_lin[31] = -x_aposteriori_k[6];
A_lin[32] = 0.0F;
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 3)) + 6] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 6)) + 6] = O[i0 + 3 * i];
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 9)) + 6] = 0.0F;
}
}
A_lin[9] = 0.0F;
A_lin[10] = x_aposteriori_k[11];
A_lin[11] = -x_aposteriori_k[10];
A_lin[21] = -x_aposteriori_k[11];
A_lin[22] = 0.0F;
A_lin[23] = x_aposteriori_k[9];
A_lin[33] = x_aposteriori_k[7];
A_lin[34] = -x_aposteriori_k[9];
A_lin[35] = 0.0F;
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 3)) + 9] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 6)) + 9] = 0.0F;
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
A_lin[(i0 + 12 * (i + 9)) + 9] = O[i0 + 3 * i];
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
b_A_lin[i0 + 12 * i] = (real32_T)dv1[i0 + 12 * i] + A_lin[i0 + 12 * i] *
dt;
}
}
/* 'attitudeKalmanfilter:88' P_apriori=A_lin*P_aposteriori_k*A_lin'+Q; */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
A_lin[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
A_lin[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_aposteriori_k[i1 + 12 *
i0];
}
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];
}
P_apriori[i + 12 * i0] = y + Q[i + 12 * i0];
}
}
/* %update */
/* 'attitudeKalmanfilter:92' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {
/* 'attitudeKalmanfilter:93' R=diag(r); */
b_diag(r, R);
/* observation matrix */
/* 'attitudeKalmanfilter:96' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:97' Z, Z, E, Z; */
/* 'attitudeKalmanfilter:98' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:100' y_k=z(1:9)-H_k*x_apriori; */
/* 'attitudeKalmanfilter:102' S_k=H_k*P_apriori*H_k'+R; */
/* 'attitudeKalmanfilter:103' K_k=(P_apriori*H_k'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 9; i0++) {
b_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
b_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)iv0[i1
+ 12 * i0];
}
}
}
for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 12; i0++) {
K_k[i + 9 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
K_k[i + 9 * i0] += (real32_T)iv1[i + 9 * i1] * P_apriori[i1 + 12 * i0];
}
}
}
for (i = 0; i < 9; i++) {
for (i0 = 0; i0 < 9; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];
}
fv0[i + 9 * i0] = y + R[i + 9 * i0];
}
}
mrdivide(b_P_apriori, fv0, K_k);
/* 'attitudeKalmanfilter:106' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 9; i++) {
y = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];
}
c_a[i] = z[i] - y;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
for (i0 = 0; i0 < 9; i0++) {
y += K_k[i + 12 * i0] * c_a[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
}
/* 'attitudeKalmanfilter:107' P_aposteriori=(eye(12)-K_k*H_k)*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 9; i1++) {
y += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 * i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:108' else */
/* 'attitudeKalmanfilter:109' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {
/* 'attitudeKalmanfilter:110' R=diag(r(1:3)); */
c_diag(*(real32_T (*)[3])&r[0], O);
/* observation matrix */
/* 'attitudeKalmanfilter:113' H_k=[ E, E, Z, Z]; */
/* 'attitudeKalmanfilter:115' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:117' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */
/* 'attitudeKalmanfilter:118' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 3; i0++) {
c_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
c_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv2[i1 + 12 * i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 12; i0++) {
fv1[i + 3 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
fv1[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *
i0];
}
}
}
for (i = 0; i < 3; i++) {
for (i0 = 0; i0 < 3; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];
}
c_a[i + 3 * i0] = y + O[i + 3 * i0];
}
}
b_mrdivide(c_P_apriori, c_a, S_k);
/* 'attitudeKalmanfilter:121' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
y = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv3[i + 3 * i0] * x_apriori[i0];
}
x_n_b[i] = z[i] - y;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
for (i0 = 0; i0 < 3; i0++) {
y += S_k[i + 12 * i0] * x_n_b[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
}
/* 'attitudeKalmanfilter:122' P_aposteriori=(eye(12)-K_k*H_k(1:3,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 3; i1++) {
y += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:123' else */
/* 'attitudeKalmanfilter:124' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==0 */
if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))
{
/* 'attitudeKalmanfilter:125' R=diag(r(1:6)); */
d_diag(*(real32_T (*)[6])&r[0], S_k);
/* observation matrix */
/* 'attitudeKalmanfilter:128' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:129' Z, Z, E, Z]; */
/* 'attitudeKalmanfilter:131' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:133' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
/* 'attitudeKalmanfilter:134' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv4[i1 + 12 * i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
b_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
b_K_k[i + 6 * i0] += (real32_T)iv5[i + 6 * i1] * P_apriori[i1 + 12
* i0];
}
}
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];
}
fv1[i + 6 * i0] = y + S_k[i + 6 * i0];
}
}
c_mrdivide(d_P_apriori, fv1, b_K_k);
/* 'attitudeKalmanfilter:137' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 6; i++) {
y = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
y += (real32_T)iv5[i + 6 * i0] * x_apriori[i0];
}
b_r[i] = z[i] - y;
}
for (i = 0; i < 12; i++) {
y = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
y += b_K_k[i + 12 * i0] * b_r[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
}
/* 'attitudeKalmanfilter:138' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
y += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *
i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:139' else */
/* 'attitudeKalmanfilter:140' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==1 */
if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 1))
{
/* 'attitudeKalmanfilter:141' R=diag([r(1:3);r(7:9)]); */
/* observation matrix */
/* 'attitudeKalmanfilter:144' H_k=[ E, E, Z, Z; */
/* 'attitudeKalmanfilter:145' Z, Z, Z, E]; */
/* 'attitudeKalmanfilter:147' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */
/* 'attitudeKalmanfilter:149' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 12; i0++) {
b_K_k[i + 6 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
b_K_k[i + 6 * i0] += (real32_T)iv6[i + 6 * i1] * P_apriori[i1 +
12 * i0];
}
}
}
for (i = 0; i < 3; i++) {
b_r[i << 1] = r[i];
b_r[1 + (i << 1)] = r[6 + i];
}
for (i = 0; i < 6; i++) {
for (i0 = 0; i0 < 6; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
y += b_K_k[i + 6 * i1] * (real32_T)iv7[i1 + 12 * i0];
}
S_k[i + 6 * i0] = y + b_r[3 * (i + i0)];
}
}
/* 'attitudeKalmanfilter:150' K_k=(P_apriori*H_k(1:6,1:12)'/(S_k)); */
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 6; i0++) {
d_P_apriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
d_P_apriori[i + 12 * i0] += P_apriori[i + 12 * i1] * (real32_T)
iv7[i1 + 12 * i0];
}
}
}
c_mrdivide(d_P_apriori, S_k, b_K_k);
/* 'attitudeKalmanfilter:153' x_aposteriori=x_apriori+K_k*y_k; */
for (i = 0; i < 3; i++) {
b_r[i] = z[i];
}
for (i = 0; i < 3; i++) {
b_r[i + 3] = z[i + 6];
}
for (i = 0; i < 6; i++) {
fv2[i] = 0.0F;
for (i0 = 0; i0 < 12; i0++) {
fv2[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];
}
b_z[i] = b_r[i] - fv2[i];
}
for (i = 0; i < 12; i++) {
y = 0.0F;
for (i0 = 0; i0 < 6; i0++) {
y += b_K_k[i + 12 * i0] * b_z[i0];
}
x_aposteriori[i] = x_apriori[i] + y;
}
/* 'attitudeKalmanfilter:154' P_aposteriori=(eye(12)-K_k*H_k(1:6,1:12))*P_apriori; */
b_eye(dv1);
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
y = 0.0F;
for (i1 = 0; i1 < 6; i1++) {
y += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];
}
Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - y;
}
}
for (i = 0; i < 12; i++) {
for (i0 = 0; i0 < 12; i0++) {
P_aposteriori[i + 12 * i0] = 0.0F;
for (i1 = 0; i1 < 12; i1++) {
P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12
* i0];
}
}
}
} else {
/* 'attitudeKalmanfilter:155' else */
/* 'attitudeKalmanfilter:156' x_aposteriori=x_apriori; */
for (i = 0; i < 12; i++) {
x_aposteriori[i] = x_apriori[i];
}
/* 'attitudeKalmanfilter:157' P_aposteriori=P_apriori; */
memcpy((void *)&P_aposteriori[0], (void *)&P_apriori[0], 144U * sizeof
(real32_T));
}
}
}
}
/* % euler anglels extraction */
/* 'attitudeKalmanfilter:166' z_n_b = -x_aposteriori(7:9)./norm(x_aposteriori(7:9)); */
y = norm(*(real32_T (*)[3])&x_aposteriori[6]);
/* 'attitudeKalmanfilter:167' m_n_b = x_aposteriori(10:12)./norm(x_aposteriori(10:12)); */
b_y = norm(*(real32_T (*)[3])&x_aposteriori[9]);
/* 'attitudeKalmanfilter:169' y_n_b=cross(z_n_b,m_n_b); */
for (i = 0; i < 3; i++) {
z_n_b[i] = -x_aposteriori[i + 6] / y;
x_n_b[i] = x_aposteriori[i + 9] / b_y;
}
cross(z_n_b, x_n_b, y_n_b);
/* 'attitudeKalmanfilter:170' y_n_b=y_n_b./norm(y_n_b); */
y = norm(y_n_b);
for (i = 0; i < 3; i++) {
y_n_b[i] /= y;
}
/* 'attitudeKalmanfilter:172' x_n_b=(cross(y_n_b,z_n_b)); */
cross(y_n_b, z_n_b, x_n_b);
/* 'attitudeKalmanfilter:173' x_n_b=x_n_b./norm(x_n_b); */
y = norm(x_n_b);
for (i = 0; i < 3; i++) {
/* 'attitudeKalmanfilter:179' Rot_matrix=[x_n_b,y_n_b,z_n_b]; */
Rot_matrix[i] = x_n_b[i] / y;
Rot_matrix[3 + i] = y_n_b[i];
Rot_matrix[6 + i] = z_n_b[i];
}
/* 'attitudeKalmanfilter:183' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
/* 'attitudeKalmanfilter:184' theta=-asin(Rot_matrix(1,3)); */
/* 'attitudeKalmanfilter:185' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
/* 'attitudeKalmanfilter:186' eulerAngles=[phi;theta;psi]; */
eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);
eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
}