PX4 Firmware
PX4 Autopilot Software http://px4.io
calcH_YAW312.c
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1 t9 = q0*q3;
2 t10 = q1*q2;
3 t2 = t9-t10;
4 t3 = q0*q0;
5 t4 = q1*q1;
6 t5 = q2*q2;
7 t6 = q3*q3;
8 t7 = t3-t4+t5-t6;
9 t8 = 1.0/(t7*t7);
10 t11 = t2*t2;
11 t12 = t8*t11*4.0;
12 t13 = t12+1.0;
13 t14 = 1.0/t13;
14 A0[0][0] = t8*t14*(q3*t3+q3*t4-q3*t5+q3*t6-q0*q1*q2*2.0)*-2.0;
15 A0[0][1] = t8*t14*(q2*t3+q2*t4+q2*t5-q2*t6-q0*q1*q3*2.0)*-2.0;
16 A0[0][2] = t8*t14*(-q1*t3+q1*t4+q1*t5+q1*t6-q0*q2*q3*2.0)*2.0;
17 A0[0][3] = t8*t14*(q0*t3-q0*t4+q0*t5+q0*t6-q1*q2*q3*2.0)*2.0;
t8
Definition: calcH_YAW312.c:9
t12
Definition: calcH_YAW312.c:11
t9
Definition: calcH_YAW312.c:1
t4
Definition: calcH_YAW312.c:5
t6
Definition: calcH_YAW312.c:7
t5
Definition: calcH_YAW312.c:6
t14
Definition: calcH_YAW312.c:13
t10
Definition: calcH_YAW312.c:2
t13
Definition: calcH_YAW312.c:12
A0[0][0]
Definition: calcH_YAW312.c:14
t11
Definition: calcH_YAW312.c:10
t2
Definition: calcH_YAW312.c:3
t7
Definition: calcH_YAW312.c:8
t3
Definition: calcH_YAW312.c:4