PX4 Firmware
PX4 Autopilot Software http://px4.io
calcMAGD.c
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1 t2 = magE*magE;
2 t3 = magN*magN;
3 t4 = t2+t3;
4 t5 = P[16][16]*t2;
5 t6 = P[17][17]*t3;
6 t7 = t2*t2;
7 t8 = R_DECL*t7;
8 t9 = t3*t3;
9 t10 = R_DECL*t9;
10 t11 = R_DECL*t2*t3*2.0;
11 t14 = P[16][17]*magE*magN;
12 t15 = P[17][16]*magE*magN;
14 t13 = 1.0/t12;
15 t16 = conjugate(magE);
16 t17 = conjugate(magN);
20 t21 = 1.0/t20;
21 A0[0][0] = -t4*t13*(P[0][16]*magE-P[0][17]*magN);
22 A0[1][0] = -t4*t13*(P[1][16]*magE-P[1][17]*magN);
23 A0[2][0] = -t4*t13*(P[2][16]*magE-P[2][17]*magN);
24 A0[3][0] = -t4*t13*(P[3][16]*magE-P[3][17]*magN);
25 A0[4][0] = -t4*t13*(P[4][16]*magE-P[4][17]*magN);
26 A0[5][0] = -t4*t13*(P[5][16]*magE-P[5][17]*magN);
27 A0[6][0] = -t4*t13*(P[6][16]*magE-P[6][17]*magN);
28 A0[7][0] = -t4*t13*(P[7][16]*magE-P[7][17]*magN);
29 A0[8][0] = -t4*t13*(P[8][16]*magE-P[8][17]*magN);
30 A0[9][0] = -t4*t13*(P[9][16]*magE-P[9][17]*magN);
31 A0[10][0] = -t4*t13*(P[10][16]*magE-P[10][17]*magN);
32 A0[11][0] = -t4*t13*(P[11][16]*magE-P[11][17]*magN);
33 A0[12][0] = -t4*t13*(P[12][16]*magE-P[12][17]*magN);
34 A0[13][0] = -t4*t13*(P[13][16]*magE-P[13][17]*magN);
35 A0[14][0] = -t4*t13*(P[14][16]*magE-P[14][17]*magN);
36 A0[15][0] = -t4*t13*(P[15][16]*magE-P[15][17]*magN);
37 A0[16][0] = -t4*t13*(P[16][16]*magE-P[16][17]*magN);
38 A0[16][1] = -t16*t21;
39 A0[17][0] = -t4*t13*(P[17][16]*magE-P[17][17]*magN);
40 A0[17][1] = t17*t21;
41 A0[18][0] = -t4*t13*(P[18][16]*magE-P[18][17]*magN);
42 A0[19][0] = -t4*t13*(P[19][16]*magE-P[19][17]*magN);
43 A0[20][0] = -t4*t13*(P[20][16]*magE-P[20][17]*magN);
44 A0[21][0] = -t4*t13*(P[21][16]*magE-P[21][17]*magN);
45 A0[22][0] = -t4*t13*(P[22][16]*magE-P[22][17]*magN);
46 A0[23][0] = -t4*t13*(P[23][16]*magE-P[23][17]*magN);
t10
Definition: calcMAGD.c:9
t19
Definition: calcMAGD.c:18
t2
Definition: calcMAGD.c:1
t13
Definition: calcMAGD.c:14
t17
Definition: calcMAGD.c:16
t21
Definition: calcMAGD.c:20
A0[0][0]
Definition: calcMAGD.c:21
t11
Definition: calcMAGD.c:10
t8
Definition: calcMAGD.c:7
t9
Definition: calcMAGD.c:8
t12
Definition: calcMAGD.c:13
t4
Definition: calcMAGD.c:3
t20
Definition: calcMAGD.c:19
t14
Definition: calcMAGD.c:11
t7
Definition: calcMAGD.c:6
t18
Definition: calcMAGD.c:17
t3
Definition: calcMAGD.c:2
t16
Definition: calcMAGD.c:15
t15
Definition: calcMAGD.c:12
P[0][0]
Definition: quatCovMat.c:44
t6
Definition: calcMAGD.c:5
t5
Definition: calcMAGD.c:4