/*
* 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]);
}
/* Function Definitions */
void updateCompass2(states_T *x, real32_T P[400], const real32_T y_Compass[3],
const real32_T b_N[3], const real32_T acc[3], boolean_T
constWind, boolean_T constQFF, boolean_T constK)
{
real32_T r;
real32_T b_r[3];
real32_T R_Compass[9];
real32_T C_NS[9];
int32_T i13;
real32_T y_Compass_N[3];
int32_T i14;
real32_T b_p_N[3];
static const int8_T b[9] = { 1, 0, 0, 0, 1, 0, 0, 0, 0 };
real32_T y_p_N[3];
real32_T X[9];
real32_T b_X[9];
real32_T y;
int32_T ar;
real32_T N[9];
real32_T dtheta_half_norm;
int32_T ib;
int32_T i;
real32_T c_X[9];
static const int8_T a[3] = { 0, 0, 1 };
real32_T b_a[3];
real32_T E_z[3];
real32_T d_X[9];
real32_T e_X[9];
real32_T K[20];
real32_T e;
static const int8_T iv4[3] = { 0, 0, 1 };
real32_T H[20];
real32_T b_y[3];
boolean_T selector[20];
emxArray_int32_T *r28;
boolean_T b_selector[20];
emxArray_int32_T *r29;
emxArray_real32_T *c_a;
emxArray_int32_T *r30;
emxArray_int32_T *r31;
int32_T br;
emxArray_int32_T *r32;
emxArray_int32_T *r33;
emxArray_int32_T *r34;
emxArray_int32_T *r35;
emxArray_real32_T *d_a;
emxArray_real32_T *b_b;
emxArray_real32_T *c_y;
uint32_T unnamed_idx_1;
int32_T ic;
int32_T ia;
emxArray_real32_T *e_a;
emxArray_real32_T *KH;
emxArray_real32_T *r36;
emxArray_real32_T *C;
uint32_T unnamed_idx_0;
int32_T c;
emxArray_int32_T *r37;
emxArray_int32_T *r38;
real32_T dq[4];
real32_T Q[16];
/* */
/* [x,P] = UPDATECOMPASS2(x,P,y_Compass, b_N, e_acc, constWind, constQFF,constK) */
/* */
/* Kalman filter update with 3-axis compass measurements. */
/* */
/* Author: lestefan */
/* date: 02/2013 */
/* */
/* Inputs: */
/* x: states [p(lat*1e7,lon*1e7,h),q_NS,v_N,b_g,b_a,QFF,w,K] */
/* P: covariance */
/* y_Compass: magnetic field measurement 3x1 (in sensor frame S) [uT] */
/* b_N: true magnetic flux density 3x1 (nav frame N) [uT] */
/* constWind: keep wind constant [true/false] (use true on GPS out) */
/* constQFF: keep QFF constant [true/false] (use true on GPS out) */
/* constK: K (sideslip parameter) const. [true/false] (use true) */
/* */
/* Outputs: */
/* x: updated states (see inputs) */
/* P: updated covariance (see inputs) */
/* */
/* Needed globals: */
/* global configuration; */
/* configuration.tau: accelerometer autocorrelation time [s] */
/* configuration.sigma_a_c: accelerometer noise [m/s^2/sqrt(Hz)] */
/* configuration.sigma_a_d: accelerometer standard diviation [m/s^2] */
/* configuration.sigma_aw_c: accelerometer bias noise [m/s^3/sqrt(Hz)] */
/* configuration.sigma_g_c: gyro noise [rad/s/sqrt(Hz)] */
/* configuration.sigma_gw_c: gyro bias noise [rad/s^2/sqrt(Hz)] */
/* configuration.sigma_pw_c: static pressure bias noise [kPa/s/sqrt(Hz)] */
/* configuration.sigma_w_c: wind drift noise [m/s^2/sqrt(Hz)] */
/* configuration.sigma_psmd: static pressure measurement variance [kPa] */
/* configuration.sigma_pdmd: dynamic pressure measurement variance [kPa] */
/* configuration.sigma_Td=1: temperature measurement variance [°K] */
/* configuration.sigma_md=1: magnetometer noise [uT] */
/* */
/* See also UPDATEPOSITION, UPDATEVELNED, UPDATEPRESSURES, */
/* UPDATEPRESSURES2, UPDATEPRESSURES3, PROPATATE, GETINITIALQ */
/* */
r = rt_powf_snf(configuration.sigma_md, 2.0F);
/* R_Compass=single(diag(configuration.sigma_md^2*single([1 1 1]))); */
b_r[0] = r;
b_r[1] = r;
b_r[2] = r;
b_diag(b_r, R_Compass);
/* *configuration.sigma_md; */
/* TODO: update in the past, re-propagate. This might not be fast enough... */
/* set float type */
C_NS[0] = ((x->q_NS[0] * x->q_NS[0] - x->q_NS[1] * x->q_NS[1]) - x->q_NS[2] *
x->q_NS[2]) + x->q_NS[3] * x->q_NS[3];
C_NS[3] = x->q_NS[0] * x->q_NS[1] * 2.0F + x->q_NS[2] * x->q_NS[3] * 2.0F;
C_NS[6] = x->q_NS[0] * x->q_NS[2] * 2.0F - x->q_NS[1] * x->q_NS[3] * 2.0F;
C_NS[1] = x->q_NS[0] * x->q_NS[1] * 2.0F - x->q_NS[2] * x->q_NS[3] * 2.0F;
C_NS[4] = ((-x->q_NS[0] * x->q_NS[0] + x->q_NS[1] * x->q_NS[1]) - x->q_NS[2] *
x->q_NS[2]) + x->q_NS[3] * x->q_NS[3];
C_NS[7] = x->q_NS[0] * x->q_NS[3] * 2.0F + x->q_NS[1] * x->q_NS[2] * 2.0F;
C_NS[2] = x->q_NS[0] * x->q_NS[2] * 2.0F + x->q_NS[1] * x->q_NS[3] * 2.0F;
C_NS[5] = x->q_NS[0] * x->q_NS[3] * -2.0F + x->q_NS[1] * x->q_NS[2] * 2.0F;
C_NS[8] = ((-x->q_NS[0] * x->q_NS[0] - x->q_NS[1] * x->q_NS[1]) + x->q_NS[2] *
x->q_NS[2]) + x->q_NS[3] * x->q_NS[3];
/* error term: */
for (i13 = 0; i13 < 3; i13++) {
y_Compass_N[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
y_Compass_N[i13] += C_NS[i13 + 3 * i14] * y_Compass[i14];
}
/* b_S=C_NS'*b_N; */
/* error and Jacobians: */
/* [e,J]=autogen_angleJacobian2d(y_Compass_N,b_N); */
/* dz=1e-3; */
/* y_Compass_N_1p=C_NS*(y_Compass+[dz;0;0]); */
/* y_Compass_N_2p=C_NS*(y_Compass+[0;dz;0]); */
/* y_Compass_N_3p=C_NS*(y_Compass+[0;0;dz]); */
/* y_Compass_N_1m=C_NS*(y_Compass-[dz;0;0]); */
/* y_Compass_N_2m=C_NS*(y_Compass-[0;dz;0]); */
/* y_Compass_N_3m=C_NS*(y_Compass-[0;0;dz]); */
/* [e1,J]=autogen_angleJacobian2d(y_Compass_N_1p,b_N); */
/* [e2,J]=autogen_angleJacobian2d(y_Compass_N_2p,b_N); */
/* [e3,J]=autogen_angleJacobian2d(y_Compass_N_3p,b_N); */
/* [e1,J]=autogen_angleJacobian2d(y_Compass_N_1m,b_N); */
/* [e2,J]=autogen_angleJacobian2d(y_Compass_N_2m,b_N); */
/* [e3,J]=autogen_angleJacobian2d(y_Compass_N_3m,b_N); */
/* E_x=[single(zeros(1,3)),J*crossMx(y_Compass_N),single(zeros(1,14))]; */
/* E_z=J*C_NS; */
b_p_N[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_p_N[i13] += (real32_T)b[i13 + 3 * i14] * b_N[i14];
}
}
for (i13 = 0; i13 < 3; i13++) {
y_p_N[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
y_p_N[i13] += (real32_T)b[i13 + 3 * i14] * y_Compass_N[i14];
}
}
/* set float type */
X[0] = 0.0F;
X[3] = -y_p_N[2];
X[6] = y_p_N[1];
X[1] = y_p_N[2];
X[4] = 0.0F;
X[7] = -y_p_N[0];
X[2] = -y_p_N[1];
X[5] = y_p_N[0];
X[8] = 0.0F;
/* set float type */
b_X[0] = 0.0F;
b_X[3] = -y_p_N[2];
b_X[6] = y_p_N[1];
b_X[1] = y_p_N[2];
b_X[4] = 0.0F;
b_X[7] = -y_p_N[0];
b_X[2] = -y_p_N[1];
b_X[5] = y_p_N[0];
b_X[8] = 0.0F;
y = 0.0F;
for (ar = 0; ar < 3; ar++) {
y += y_p_N[ar] * y_p_N[ar];
}
r = rt_powf_snf((real32_T)sqrt(y), 3.0F);
for (i13 = 0; i13 < 3; i13++) {
for (i14 = 0; i14 < 3; i14++) {
dtheta_half_norm = 0.0F;
for (ib = 0; ib < 3; ib++) {
dtheta_half_norm += X[i13 + 3 * ib] * b_X[i14 + 3 * ib];
}
N[i13 + 3 * i14] = dtheta_half_norm / r;
}
}
y = 0.0F;
for (ar = 0; ar < 3; ar++) {
y += b_p_N[ar] * b_p_N[ar];
}
r = (real32_T)sqrt(y);
for (i = 0; i < 3; i++) {
b_r[i] = -b_p_N[i] / r;
}
/* set float type */
c_X[0] = 0.0F;
c_X[3] = -b_r[2];
c_X[6] = b_r[1];
c_X[1] = b_r[2];
c_X[4] = 0.0F;
c_X[7] = -b_r[0];
c_X[2] = -b_r[1];
c_X[5] = b_r[0];
c_X[8] = 0.0F;
for (i13 = 0; i13 < 3; i13++) {
b_r[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_r[i13] += (real32_T)a[i14] * c_X[i14 + 3 * i13];
}
}
for (i13 = 0; i13 < 3; i13++) {
b_a[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_a[i13] += b_r[i14] * N[i14 + 3 * i13];
}
}
for (i13 = 0; i13 < 3; i13++) {
b_r[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_r[i13] += b_a[i14] * (real32_T)b[i14 + 3 * i13];
}
}
y = 0.0F;
for (i13 = 0; i13 < 3; i13++) {
E_z[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
E_z[i13] += b_r[i14] * C_NS[i14 + 3 * i13];
}
y += b_p_N[i13] * b_p_N[i13];
}
r = (real32_T)sqrt(y);
for (i = 0; i < 3; i++) {
b_r[i] = -b_p_N[i] / r;
}
/* set float type */
d_X[0] = 0.0F;
d_X[3] = -b_r[2];
d_X[6] = b_r[1];
d_X[1] = b_r[2];
d_X[4] = 0.0F;
d_X[7] = -b_r[0];
d_X[2] = -b_r[1];
d_X[5] = b_r[0];
d_X[8] = 0.0F;
/* set float type */
e_X[0] = 0.0F;
e_X[3] = -y_Compass_N[2];
e_X[6] = y_Compass_N[1];
e_X[1] = y_Compass_N[2];
e_X[4] = 0.0F;
e_X[7] = -y_Compass_N[0];
e_X[2] = -y_Compass_N[1];
e_X[5] = y_Compass_N[0];
e_X[8] = 0.0F;
for (i13 = 0; i13 < 3; i13++) {
b_r[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_r[i13] += (real32_T)a[i14] * d_X[i14 + 3 * i13];
}
}
for (i13 = 0; i13 < 3; i13++) {
b_a[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_a[i13] += b_r[i14] * N[i14 + 3 * i13];
}
}
for (i13 = 0; i13 < 3; i13++) {
b_r[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_r[i13] += b_a[i14] * (real32_T)b[i14 + 3 * i13];
}
}
for (i13 = 0; i13 < 3; i13++) {
b_a[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
b_a[i13] += b_r[i14] * e_X[i14 + 3 * i13];
}
K[i13] = 0.0F;
}
for (i13 = 0; i13 < 3; i13++) {
K[i13 + 3] = b_a[i13];
}
for (i13 = 0; i13 < 14; i13++) {
K[i13 + 6] = 0.0F;
}
y = 0.0F;
for (ar = 0; ar < 3; ar++) {
y += y_p_N[ar] * y_p_N[ar];
}
r = (real32_T)sqrt(y);
y = 0.0F;
for (ar = 0; ar < 3; ar++) {
y += b_p_N[ar] * b_p_N[ar];
b_a[ar] = y_p_N[ar] / r;
}
r = (real32_T)sqrt(y);
for (i = 0; i < 3; i++) {
b_r[i] = b_p_N[i] / r;
}
cross(b_a, b_r, y_Compass_N);
e = 0.0F;
for (ar = 0; ar < 3; ar++) {
e += (real32_T)iv4[ar] * y_Compass_N[ar];
}
/* e1p=Pi_z*cross(Pi_xy0*y_Compass_N_1p/sqrt(y_Compass_N_1p'*y_Compass_N_1p),Pi_xy0*e_N); */
/* e2p=Pi_z*cross(Pi_xy0*y_Compass_N_2p/sqrt(y_Compass_N_2p'*y_Compass_N_2p),Pi_xy0*e_N); */
/* e3p=Pi_z*cross(Pi_xy0*y_Compass_N_3p/sqrt(y_Compass_N_3p'*y_Compass_N_3p),Pi_xy0*e_N); */
/* e1m=Pi_z*cross(Pi_xy0*y_Compass_N_1m/sqrt(y_Compass_N_1m'*y_Compass_N_1m),Pi_xy0*e_N); */
/* e2m=Pi_z*cross(Pi_xy0*y_Compass_N_2m/sqrt(y_Compass_N_2m'*y_Compass_N_2m),Pi_xy0*e_N); */
/* e3m=Pi_z*cross(Pi_xy0*y_Compass_N_3m/sqrt(y_Compass_N_3m'*y_Compass_N_3m),Pi_xy0*e_N); */
/* num_diff_Ez = [(e1p-e1m)/(2*dz) (e2p-e2m)/(2*dz) (e3p-e3m)/(2*dz)]; */
/* e_acc=single([0;0;1]); % rather random, but if mounted as advised, it's ok */
/* norm_acc_sq=acc'*acc; */
/* if norm_acc_sq>1 */
/* e_acc=acc/sqrt(norm_acc_sq); */
/* end */
/* [e,E_b_S,E_z]=autogen_angleJacobian2dAccDir(y_Compass,b_S,e_acc); */
/* E_x=[single(zeros(1,3)),-E_b_S*C_NS'*crossMx(b_N),single(zeros(1,14))]; */
for (i13 = 0; i13 < 20; i13++) {
H[i13] = -K[i13];
}
for (i13 = 0; i13 < 3; i13++) {
b_y[i13] = 0.0F;
for (i14 = 0; i14 < 3; i14++) {
y = b_y[i13] + K[3 + i14] * P[(i14 + 20 * (3 + i13)) + 3];
b_y[i13] = y;
}
}
y = 0.0F;
r = 0.0F;
for (ar = 0; ar < 3; ar++) {
y += b_y[ar] * K[3 + ar];
b_y[ar] = 0.0F;
for (i13 = 0; i13 < 3; i13++) {
b_y[ar] += E_z[i13] * R_Compass[i13 + 3 * ar];
}
r += b_y[ar] * E_z[ar];
}
r += y;
if (e * rt_powf_snf(r, -1.0F) * e > 100.0F) {
/* disp(['magnetometer chi2 ' num2str(chi2)]); */
} else {
/* K=(S\(H(1:3,4:6)*P(4:6,:)))'; % gain */
for (i = 0; i < 20; i++) {
K[i] = 0.0F;
/* set float type */
selector[i] = TRUE;
}
if (constK) {
selector[19] = FALSE;
}
if (constQFF) {
selector[15] = FALSE;
}
emxInit_int32_T(&r28, 1);
/* remove correlations of fixed states with active states */
eml_li_find(selector, r28);
i13 = r28->size[0];
r28->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r28, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r28->data[i13]--;
}
for (i = 0; i < 20; i++) {
b_selector[i] = !selector[i];
}
emxInit_int32_T(&r29, 1);
eml_li_find(b_selector, r29);
i13 = r29->size[0];
r29->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r29, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r29->data[i13]--;
}
for (i = 0; i < 20; i++) {
b_selector[i] = !selector[i];
}
emxInit_real32_T(&c_a, 2);
emxInit_int32_T(&r30, 1);
emxInit_int32_T(&r31, 1);
eml_li_find(b_selector, r30);
eml_li_find(selector, r31);
i13 = c_a->size[0] * c_a->size[1];
c_a->size[0] = r31->size[0];
c_a->size[1] = r30->size[0];
emxEnsureCapacity((emxArray__common *)c_a, i13, (int32_T)sizeof(real32_T));
i = r30->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r31->size[0];
for (i14 = 0; i14 < br; i14++) {
c_a->data[i14 + c_a->size[0] * i13] = P[(r31->data[i14] + 20 *
(r30->data[i13] - 1)) - 1];
}
}
emxInit_int32_T(&r32, 1);
i13 = r32->size[0];
r32->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r32, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r32->data[i13] = r29->data[i13];
}
emxInit_int32_T(&r33, 1);
i13 = r33->size[0];
r33->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r33, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r33->data[i13] = r28->data[i13];
}
i = c_a->size[1];
for (i13 = 0; i13 < i; i13++) {
br = c_a->size[0];
for (i14 = 0; i14 < br; i14++) {
P[r33->data[i14] + 20 * r32->data[i13]] = c_a->data[i14 + c_a->size[0] *
i13] * 0.0F;
}
}
emxFree_int32_T(&r33);
emxFree_int32_T(&r32);
for (i = 0; i < 20; i++) {
b_selector[i] = !selector[i];
}
eml_li_find(b_selector, r28);
i13 = r28->size[0];
r28->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r28, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r28->data[i13]--;
}
eml_li_find(selector, r29);
i13 = r29->size[0];
r29->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r29, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r29->data[i13]--;
}
eml_li_find(selector, r30);
for (i = 0; i < 20; i++) {
b_selector[i] = !selector[i];
}
eml_li_find(b_selector, r31);
i13 = c_a->size[0] * c_a->size[1];
c_a->size[0] = r31->size[0];
c_a->size[1] = r30->size[0];
emxEnsureCapacity((emxArray__common *)c_a, i13, (int32_T)sizeof(real32_T));
i = r30->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r31->size[0];
for (i14 = 0; i14 < br; i14++) {
c_a->data[i14 + c_a->size[0] * i13] = P[(r31->data[i14] + 20 *
(r30->data[i13] - 1)) - 1];
}
}
emxFree_int32_T(&r31);
emxInit_int32_T(&r34, 1);
i13 = r34->size[0];
r34->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r34, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r34->data[i13] = r29->data[i13];
}
emxInit_int32_T(&r35, 1);
i13 = r35->size[0];
r35->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r35, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r35->data[i13] = r28->data[i13];
}
i = c_a->size[1];
for (i13 = 0; i13 < i; i13++) {
br = c_a->size[0];
for (i14 = 0; i14 < br; i14++) {
P[r35->data[i14] + 20 * r34->data[i13]] = c_a->data[i14 + c_a->size[0] *
i13] * 0.0F;
}
}
emxFree_int32_T(&r35);
emxFree_int32_T(&r34);
/* P(~selector,~selector)=P(~selector,~selector)*0; */
eml_li_find(selector, r28);
i13 = r28->size[0];
r28->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r28, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r28->data[i13]--;
}
emxInit_real32_T(&d_a, 2);
eml_li_find(selector, r29);
i13 = d_a->size[0] * d_a->size[1];
d_a->size[0] = 1;
d_a->size[1] = r29->size[0];
emxEnsureCapacity((emxArray__common *)d_a, i13, (int32_T)sizeof(real32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
d_a->data[d_a->size[0] * i13] = H[r29->data[i13] - 1];
}
emxInit_real32_T(&b_b, 2);
eml_li_find(selector, r29);
eml_li_find(selector, r30);
i13 = b_b->size[0] * b_b->size[1];
b_b->size[0] = r30->size[0];
b_b->size[1] = r29->size[0];
emxEnsureCapacity((emxArray__common *)b_b, i13, (int32_T)sizeof(real32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r30->size[0];
for (i14 = 0; i14 < br; i14++) {
b_b->data[i14 + b_b->size[0] * i13] = P[(r30->data[i14] + 20 *
(r29->data[i13] - 1)) - 1];
}
}
emxFree_int32_T(&r30);
emxInit_real32_T(&c_y, 2);
if ((d_a->size[1] == 1) || (b_b->size[0] == 1)) {
i13 = c_y->size[0] * c_y->size[1];
c_y->size[0] = 1;
c_y->size[1] = b_b->size[1];
emxEnsureCapacity((emxArray__common *)c_y, i13, (int32_T)sizeof(real32_T));
i = b_b->size[1];
for (i13 = 0; i13 < i; i13++) {
c_y->data[c_y->size[0] * i13] = 0.0F;
br = d_a->size[1];
for (i14 = 0; i14 < br; i14++) {
c_y->data[c_y->size[0] * i13] += d_a->data[d_a->size[0] * i14] *
b_b->data[i14 + b_b->size[0] * i13];
}
}
} else {
unnamed_idx_1 = (uint32_T)b_b->size[1];
i13 = c_y->size[0] * c_y->size[1];
c_y->size[0] = 1;
emxEnsureCapacity((emxArray__common *)c_y, i13, (int32_T)sizeof(real32_T));
i13 = c_y->size[0] * c_y->size[1];
c_y->size[1] = (int32_T)unnamed_idx_1;
emxEnsureCapacity((emxArray__common *)c_y, i13, (int32_T)sizeof(real32_T));
i = (int32_T)unnamed_idx_1;
for (i13 = 0; i13 < i; i13++) {
c_y->data[i13] = 0.0F;
}
if (b_b->size[1] == 0) {
} else {
for (i = 0; i < b_b->size[1]; i++) {
for (ic = i; ic + 1 <= i + 1; ic++) {
c_y->data[ic] = 0.0F;
}
}
br = 0;
for (i = 0; i < b_b->size[1]; i++) {
ar = 0;
i13 = br + d_a->size[1];
for (ib = br; ib + 1 <= i13; ib++) {
if (b_b->data[ib] != 0.0F) {
ia = ar;
for (ic = i; ic + 1 <= i + 1; ic++) {
ia++;
c_y->data[ic] += b_b->data[ib] * d_a->data[ia - 1];
}
}
ar++;
}
br += d_a->size[1];
}
}
}
i = c_y->size[1];
for (i13 = 0; i13 < i; i13++) {
K[r28->data[i13]] = c_y->data[i13] / r;
}
emxFree_real32_T(&c_y);
b_emxInit_real32_T(&e_a, 1);
/* check Jacobian */
/* delta=1e-12; */
/* db=[-C_SN*crossMx(b_N)*[delta;0;0],-C_SN*crossMx(b_N)*[0;delta;0],-C_SN*crossMx(b_N)*[0;0;delta]]; */
/* q1=quatUpdate(x(4:7),[delta;0;0]); */
/* q2=quatUpdate(x(4:7),[0;delta;0]); */
/* q3=quatUpdate(x(4:7),[0;0;delta]); */
/* db_finiteDiff=[quat2r(q1)'*b_N-C_SN*b_N, quat2r(q2)'*b_N-C_SN*b_N, quat2r(q3)'*b_N-C_SN*b_N]; */
/* db-db_finiteDiff */
/* update: */
eml_li_find(selector, r28);
i13 = e_a->size[0];
e_a->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)e_a, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
e_a->data[i13] = K[r28->data[i13] - 1];
}
eml_li_find(selector, r28);
i13 = d_a->size[0] * d_a->size[1];
d_a->size[0] = 1;
d_a->size[1] = r28->size[0];
emxEnsureCapacity((emxArray__common *)d_a, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
d_a->data[d_a->size[0] * i13] = H[r28->data[i13] - 1];
}
emxInit_real32_T(&KH, 2);
i13 = KH->size[0] * KH->size[1];
KH->size[0] = e_a->size[0];
KH->size[1] = d_a->size[1];
emxEnsureCapacity((emxArray__common *)KH, i13, (int32_T)sizeof(real32_T));
i = e_a->size[0];
for (i13 = 0; i13 < i; i13++) {
br = d_a->size[1];
for (i14 = 0; i14 < br; i14++) {
KH->data[i13 + KH->size[0] * i14] = e_a->data[i13] * d_a->data[d_a->
size[0] * i14];
}
}
emxInit_real32_T(&r36, 2);
eml_li_find(selector, r28);
eml_li_find(selector, r29);
i13 = r36->size[0] * r36->size[1];
r36->size[0] = r29->size[0];
r36->size[1] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r36, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r29->size[0];
for (i14 = 0; i14 < br; i14++) {
r36->data[i14 + r36->size[0] * i13] = P[(r29->data[i14] + 20 *
(r28->data[i13] - 1)) - 1];
}
}
eml_li_find(selector, r28);
eml_li_find(selector, r29);
i13 = b_b->size[0] * b_b->size[1];
b_b->size[0] = r29->size[0];
b_b->size[1] = r28->size[0];
emxEnsureCapacity((emxArray__common *)b_b, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r29->size[0];
for (i14 = 0; i14 < br; i14++) {
b_b->data[i14 + b_b->size[0] * i13] = P[(r29->data[i14] + 20 *
(r28->data[i13] - 1)) - 1];
}
}
emxInit_real32_T(&C, 2);
if ((KH->size[1] == 1) || (b_b->size[0] == 1)) {
i13 = C->size[0] * C->size[1];
C->size[0] = KH->size[0];
C->size[1] = b_b->size[1];
emxEnsureCapacity((emxArray__common *)C, i13, (int32_T)sizeof(real32_T));
i = KH->size[0];
for (i13 = 0; i13 < i; i13++) {
br = b_b->size[1];
for (i14 = 0; i14 < br; i14++) {
C->data[i13 + C->size[0] * i14] = 0.0F;
ar = KH->size[1];
for (ib = 0; ib < ar; ib++) {
C->data[i13 + C->size[0] * i14] += KH->data[i13 + KH->size[0] * ib] *
b_b->data[ib + b_b->size[0] * i14];
}
}
}
} else {
unnamed_idx_0 = (uint32_T)KH->size[0];
unnamed_idx_1 = (uint32_T)b_b->size[1];
i13 = C->size[0] * C->size[1];
C->size[0] = (int32_T)unnamed_idx_0;
emxEnsureCapacity((emxArray__common *)C, i13, (int32_T)sizeof(real32_T));
i13 = C->size[0] * C->size[1];
C->size[1] = (int32_T)unnamed_idx_1;
emxEnsureCapacity((emxArray__common *)C, i13, (int32_T)sizeof(real32_T));
i = (int32_T)unnamed_idx_0 * (int32_T)unnamed_idx_1;
for (i13 = 0; i13 < i; i13++) {
C->data[i13] = 0.0F;
}
if ((KH->size[0] == 0) || (b_b->size[1] == 0)) {
} else {
c = KH->size[0] * (b_b->size[1] - 1);
for (i = 0; i <= c; i += KH->size[0]) {
i13 = i + KH->size[0];
for (ic = i; ic + 1 <= i13; ic++) {
C->data[ic] = 0.0F;
}
}
br = 0;
for (i = 0; i <= c; i += KH->size[0]) {
ar = 0;
i13 = br + KH->size[1];
for (ib = br; ib + 1 <= i13; ib++) {
if (b_b->data[ib] != 0.0F) {
ia = ar;
i14 = i + KH->size[0];
for (ic = i; ic + 1 <= i14; ic++) {
ia++;
C->data[ic] += b_b->data[ib] * KH->data[ia - 1];
}
}
ar += KH->size[0];
}
br += KH->size[1];
}
}
}
eml_li_find(selector, r28);
eml_li_find(selector, r29);
i13 = c_a->size[0] * c_a->size[1];
c_a->size[0] = r29->size[0];
c_a->size[1] = r28->size[0];
emxEnsureCapacity((emxArray__common *)c_a, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
br = r29->size[0];
for (i14 = 0; i14 < br; i14++) {
c_a->data[i14 + c_a->size[0] * i13] = P[(r29->data[i14] + 20 *
(r28->data[i13] - 1)) - 1];
}
}
i13 = b_b->size[0] * b_b->size[1];
b_b->size[0] = KH->size[1];
b_b->size[1] = KH->size[0];
emxEnsureCapacity((emxArray__common *)b_b, i13, (int32_T)sizeof(real32_T));
i = KH->size[0];
for (i13 = 0; i13 < i; i13++) {
br = KH->size[1];
for (i14 = 0; i14 < br; i14++) {
b_b->data[i14 + b_b->size[0] * i13] = KH->data[i13 + KH->size[0] * i14];
}
}
if ((c_a->size[1] == 1) || (b_b->size[0] == 1)) {
i13 = KH->size[0] * KH->size[1];
KH->size[0] = c_a->size[0];
KH->size[1] = b_b->size[1];
emxEnsureCapacity((emxArray__common *)KH, i13, (int32_T)sizeof(real32_T));
i = c_a->size[0];
for (i13 = 0; i13 < i; i13++) {
br = b_b->size[1];
for (i14 = 0; i14 < br; i14++) {
KH->data[i13 + KH->size[0] * i14] = 0.0F;
ar = c_a->size[1];
for (ib = 0; ib < ar; ib++) {
KH->data[i13 + KH->size[0] * i14] += c_a->data[i13 + c_a->size[0] *
ib] * b_b->data[ib + b_b->size[0] * i14];
}
}
}
} else {
unnamed_idx_0 = (uint32_T)c_a->size[0];
unnamed_idx_1 = (uint32_T)b_b->size[1];
i13 = KH->size[0] * KH->size[1];
KH->size[0] = (int32_T)unnamed_idx_0;
emxEnsureCapacity((emxArray__common *)KH, i13, (int32_T)sizeof(real32_T));
i13 = KH->size[0] * KH->size[1];
KH->size[1] = (int32_T)unnamed_idx_1;
emxEnsureCapacity((emxArray__common *)KH, i13, (int32_T)sizeof(real32_T));
i = (int32_T)unnamed_idx_0 * (int32_T)unnamed_idx_1;
for (i13 = 0; i13 < i; i13++) {
KH->data[i13] = 0.0F;
}
if ((c_a->size[0] == 0) || (b_b->size[1] == 0)) {
} else {
c = c_a->size[0] * (b_b->size[1] - 1);
for (i = 0; i <= c; i += c_a->size[0]) {
i13 = i + c_a->size[0];
for (ic = i; ic + 1 <= i13; ic++) {
KH->data[ic] = 0.0F;
}
}
br = 0;
for (i = 0; i <= c; i += c_a->size[0]) {
ar = 0;
i13 = br + c_a->size[1];
for (ib = br; ib + 1 <= i13; ib++) {
if (b_b->data[ib] != 0.0F) {
ia = ar;
i14 = i + c_a->size[0];
for (ic = i; ic + 1 <= i14; ic++) {
ia++;
KH->data[ic] += b_b->data[ib] * c_a->data[ia - 1];
}
}
ar += c_a->size[0];
}
br += c_a->size[1];
}
}
}
emxFree_real32_T(&b_b);
emxFree_real32_T(&c_a);
eml_li_find(selector, r28);
i13 = e_a->size[0];
e_a->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)e_a, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
e_a->data[i13] = K[r28->data[i13] - 1];
}
eml_li_find(selector, r28);
i13 = d_a->size[0] * d_a->size[1];
d_a->size[0] = 1;
d_a->size[1] = r28->size[0];
emxEnsureCapacity((emxArray__common *)d_a, i13, (int32_T)sizeof(real32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
d_a->data[d_a->size[0] * i13] = K[r28->data[i13] - 1];
}
eml_li_find(selector, r28);
i13 = r28->size[0];
r28->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r28, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r28->data[i13]--;
}
eml_li_find(selector, r29);
i13 = r29->size[0];
r29->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r29, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r29->data[i13]--;
}
emxInit_int32_T(&r37, 1);
i13 = r37->size[0];
r37->size[0] = r29->size[0];
emxEnsureCapacity((emxArray__common *)r37, i13, (int32_T)sizeof(int32_T));
i = r29->size[0];
for (i13 = 0; i13 < i; i13++) {
r37->data[i13] = r29->data[i13];
}
emxFree_int32_T(&r29);
emxInit_int32_T(&r38, 1);
i13 = r38->size[0];
r38->size[0] = r28->size[0];
emxEnsureCapacity((emxArray__common *)r38, i13, (int32_T)sizeof(int32_T));
i = r28->size[0];
for (i13 = 0; i13 < i; i13++) {
r38->data[i13] = r28->data[i13];
}
emxFree_int32_T(&r28);
i = e_a->size[0];
for (i13 = 0; i13 < i; i13++) {
br = d_a->size[1];
for (i14 = 0; i14 < br; i14++) {
dtheta_half_norm = e_a->data[i13] * r * d_a->data[d_a->size[0] * i14];
P[r38->data[i13] + 20 * r37->data[i14]] = ((r36->data[i13 + r36->size[0]
* i14] - C->data[i13 + C->size[0] * i14]) - KH->data[i13 + KH->size[0]
* i14]) + dtheta_half_norm;
}
}
emxFree_int32_T(&r38);
emxFree_int32_T(&r37);
emxFree_real32_T(&e_a);
emxFree_real32_T(&d_a);
emxFree_real32_T(&C);
emxFree_real32_T(&r36);
emxFree_real32_T(&KH);
for (i13 = 0; i13 < 20; i13++) {
K[i13] *= e;
}
for (i13 = 0; i13 < 3; i13++) {
x->p[i13] += (real_T)K[i13];
}
for (i = 0; i < 3; i++) {
y_Compass_N[i] = 0.5F * K[i + 3];
}
dtheta_half_norm = (real32_T)sqrt(dot(y_Compass_N, y_Compass_N));
if ((real32_T)fabs(dtheta_half_norm) < 0.01F) {
r = dtheta_half_norm * dtheta_half_norm;
y = ((1.0F - 0.166666672F * r) + 0.00833333377F * (r * r)) -
0.000198412701F * (r * r * r);
} else {
y = (real32_T)sin(dtheta_half_norm) / dtheta_half_norm;
}
for (i = 0; i < 3; i++) {
dq[i] = y * y_Compass_N[i];
}
dq[3] = (real32_T)cos(dtheta_half_norm);
/* optimization (rectification of sinc) */
/* [ q3, q2, -q1, q0] */
/* [ -q2, q3, q0, q1] */
/* [ q1, -q0, q3, q2] */
/* [ -q0, -q1, -q2, q3] */
/* set float type */
Q[0] = dq[3];
Q[4] = dq[2];
Q[8] = -dq[1];
Q[12] = dq[0];
Q[1] = -dq[2];
Q[5] = dq[3];
Q[9] = dq[0];
Q[13] = dq[1];
Q[2] = dq[1];
Q[6] = -dq[0];
Q[10] = dq[3];
Q[14] = dq[2];
Q[3] = -dq[0];
Q[7] = -dq[1];
Q[11] = -dq[2];
Q[15] = dq[3];
for (i13 = 0; i13 < 4; i13++) {
dq[i13] = 0.0F;
for (i14 = 0; i14 < 4; i14++) {
r = dq[i13] + Q[i13 + (i14 << 2)] * x->q_NS[i14];
dq[i13] = r;
}
}
r = 0.0F;
i = 0;
br = 0;
for (ar = 0; ar < 4; ar++) {
r += dq[i] * dq[br];
i++;
br++;
}
r = (real32_T)sqrt(r);
for (i13 = 0; i13 < 4; i13++) {
dq[i13] /= r;
}
for (i = 0; i < 4; i++) {
x->q_NS[i] = dq[i];
}
/* Correct the angular state only with tilt D (tilt N and tilt E are Zero) */
for (i13 = 0; i13 < 3; i13++) {
x->v_N[i13] += K[6 + i13];
}
for (i13 = 0; i13 < 3; i13++) {
x->b_g[i13] += K[9 + i13];
}
for (i13 = 0; i13 < 3; i13++) {
x->b_a[i13] += K[12 + i13];
}
x->QFF += K[15];
for (i13 = 0; i13 < 3; i13++) {
x->w[i13] += K[16 + i13];
}
x->K += K[19];
}
}
