PX4 Firmware
PX4 Autopilot Software http://px4.io
K_VELZ.c
Go to the documentation of this file.
1 float t2 = q0*q2*2.0;
2 float t3 = q1*q3*2.0;
3 float t4 = t2+t3;
4 float t5 = q0*q0;
5 float t6 = q1*q1;
6 float t7 = q2*q2;
7 float t8 = q3*q3;
8 float t9 = t5-t6-t7+t8;
9 float t10 = q0*q1*2.0;
10 float t25 = q2*q3*2.0;
11 float t11 = t10-t25;
12 float t12 = q0*vd*2.0;
13 float t13 = q2*vn*2.0;
14 float t26 = q1*ve*2.0;
15 float t14 = t12+t13-t26;
16 float t15 = q1*vd*2.0;
17 float t16 = q0*ve*2.0;
18 float t27 = q3*vn*2.0;
19 float t17 = t15+t16-t27;
20 float t18 = q3*ve*2.0;
21 float t19 = q0*vn*2.0;
22 float t28 = q2*vd*2.0;
23 float t20 = t18+t19-t28;
24 float t21 = q3*vd*2.0;
25 float t22 = q2*ve*2.0;
26 float t23 = q1*vn*2.0;
27 float t24 = t21+t22+t23;
28 float t29 = P[0][0]*t14;
29 float t30 = P[6][4]*t9;
30 float t31 = P[4][4]*t4;
31 float t32 = P[0][4]*t14;
32 float t33 = P[2][4]*t20;
33 float t34 = P[3][4]*t24;
34 float t78 = P[5][4]*t11;
35 float t79 = P[1][4]*t17;
36 float t35 = t30+t31+t32+t33+t34-t78-t79;
37 float t36 = t4*t35;
38 float t37 = P[6][5]*t9;
39 float t38 = P[4][5]*t4;
40 float t39 = P[0][5]*t14;
41 float t40 = P[2][5]*t20;
42 float t41 = P[3][5]*t24;
43 float t80 = P[5][5]*t11;
44 float t81 = P[1][5]*t17;
45 float t42 = t37+t38+t39+t40+t41-t80-t81;
46 float t43 = P[6][0]*t9;
47 float t44 = P[4][0]*t4;
48 float t45 = P[2][0]*t20;
49 float t46 = P[3][0]*t24;
50 float t83 = P[5][0]*t11;
51 float t84 = P[1][0]*t17;
52 float t47 = t29+t43+t44+t45+t46-t83-t84;
53 float t48 = t14*t47;
54 float t49 = P[6][1]*t9;
55 float t50 = P[4][1]*t4;
56 float t51 = P[0][1]*t14;
57 float t52 = P[2][1]*t20;
58 float t53 = P[3][1]*t24;
59 float t85 = P[5][1]*t11;
60 float t86 = P[1][1]*t17;
61 float t54 = t49+t50+t51+t52+t53-t85-t86;
62 float t55 = P[6][2]*t9;
63 float t56 = P[4][2]*t4;
64 float t57 = P[0][2]*t14;
65 float t58 = P[2][2]*t20;
66 float t59 = P[3][2]*t24;
67 float t88 = P[5][2]*t11;
68 float t89 = P[1][2]*t17;
69 float t60 = t55+t56+t57+t58+t59-t88-t89;
70 float t61 = t20*t60;
71 float t62 = P[6][3]*t9;
72 float t63 = P[4][3]*t4;
73 float t64 = P[0][3]*t14;
74 float t65 = P[2][3]*t20;
75 float t66 = P[3][3]*t24;
76 float t90 = P[5][3]*t11;
77 float t91 = P[1][3]*t17;
78 float t67 = t62+t63+t64+t65+t66-t90-t91;
79 float t68 = t24*t67;
80 float t69 = P[6][6]*t9;
81 float t70 = P[4][6]*t4;
82 float t71 = P[0][6]*t14;
83 float t72 = P[2][6]*t20;
84 float t73 = P[3][6]*t24;
85 float t92 = P[5][6]*t11;
86 float t93 = P[1][6]*t17;
87 float t74 = t69+t70+t71+t72+t73-t92-t93;
88 float t75 = t9*t74;
89 float t82 = t11*t42;
90 float t87 = t17*t54;
91 float t76 = R_VEL+t36+t48+t61+t68+t75-t82-t87;
92 float t77 = 1.0f/t76;
93 Kfusion[0] = t77*(t29+P[0][4]*t4+P[0][6]*t9-P[0][5]*t11-P[0][1]*t17+P[0][2]*t20+P[0][3]*t24);
94 Kfusion[1] = t77*(P[1][4]*t4+P[1][0]*t14+P[1][6]*t9-P[1][5]*t11-P[1][1]*t17+P[1][2]*t20+P[1][3]*t24);
95 Kfusion[2] = t77*(t58+P[2][4]*t4+P[2][0]*t14+P[2][6]*t9-P[2][5]*t11-P[2][1]*t17+P[2][3]*t24);
96 Kfusion[3] = t77*(t66+P[3][4]*t4+P[3][0]*t14+P[3][6]*t9-P[3][5]*t11-P[3][1]*t17+P[3][2]*t20);
97 Kfusion[4] = t77*(t31+P[4][0]*t14+P[4][6]*t9-P[4][5]*t11-P[4][1]*t17+P[4][2]*t20+P[4][3]*t24);
98 Kfusion[5] = t77*(-t80+P[5][4]*t4+P[5][0]*t14+P[5][6]*t9-P[5][1]*t17+P[5][2]*t20+P[5][3]*t24);
99 Kfusion[6] = t77*(t69+P[6][4]*t4+P[6][0]*t14-P[6][5]*t11-P[6][1]*t17+P[6][2]*t20+P[6][3]*t24);
100 Kfusion[7] = t77*(P[7][4]*t4+P[7][0]*t14+P[7][6]*t9-P[7][5]*t11-P[7][1]*t17+P[7][2]*t20+P[7][3]*t24);
101 Kfusion[8] = t77*(P[8][4]*t4+P[8][0]*t14+P[8][6]*t9-P[8][5]*t11-P[8][1]*t17+P[8][2]*t20+P[8][3]*t24);
102 Kfusion[9] = t77*(P[9][4]*t4+P[9][0]*t14+P[9][6]*t9-P[9][5]*t11-P[9][1]*t17+P[9][2]*t20+P[9][3]*t24);
103 Kfusion[10] = t77*(P[10][4]*t4+P[10][0]*t14+P[10][6]*t9-P[10][5]*t11-P[10][1]*t17+P[10][2]*t20+P[10][3]*t24);
104 Kfusion[11] = t77*(P[11][4]*t4+P[11][0]*t14+P[11][6]*t9-P[11][5]*t11-P[11][1]*t17+P[11][2]*t20+P[11][3]*t24);
105 Kfusion[12] = t77*(P[12][4]*t4+P[12][0]*t14+P[12][6]*t9-P[12][5]*t11-P[12][1]*t17+P[12][2]*t20+P[12][3]*t24);
106 Kfusion[13] = t77*(P[13][4]*t4+P[13][0]*t14+P[13][6]*t9-P[13][5]*t11-P[13][1]*t17+P[13][2]*t20+P[13][3]*t24);
107 Kfusion[14] = t77*(P[14][4]*t4+P[14][0]*t14+P[14][6]*t9-P[14][5]*t11-P[14][1]*t17+P[14][2]*t20+P[14][3]*t24);
108 Kfusion[15] = t77*(P[15][4]*t4+P[15][0]*t14+P[15][6]*t9-P[15][5]*t11-P[15][1]*t17+P[15][2]*t20+P[15][3]*t24);
109 Kfusion[16] = t77*(P[16][4]*t4+P[16][0]*t14+P[16][6]*t9-P[16][5]*t11-P[16][1]*t17+P[16][2]*t20+P[16][3]*t24);
110 Kfusion[17] = t77*(P[17][4]*t4+P[17][0]*t14+P[17][6]*t9-P[17][5]*t11-P[17][1]*t17+P[17][2]*t20+P[17][3]*t24);
111 Kfusion[18] = t77*(P[18][4]*t4+P[18][0]*t14+P[18][6]*t9-P[18][5]*t11-P[18][1]*t17+P[18][2]*t20+P[18][3]*t24);
112 Kfusion[19] = t77*(P[19][4]*t4+P[19][0]*t14+P[19][6]*t9-P[19][5]*t11-P[19][1]*t17+P[19][2]*t20+P[19][3]*t24);
113 Kfusion[20] = t77*(P[20][4]*t4+P[20][0]*t14+P[20][6]*t9-P[20][5]*t11-P[20][1]*t17+P[20][2]*t20+P[20][3]*t24);
114 Kfusion[21] = t77*(P[21][4]*t4+P[21][0]*t14+P[21][6]*t9-P[21][5]*t11-P[21][1]*t17+P[21][2]*t20+P[21][3]*t24);
115 Kfusion[22] = t77*(P[22][4]*t4+P[22][0]*t14+P[22][6]*t9-P[22][5]*t11-P[22][1]*t17+P[22][2]*t20+P[22][3]*t24);
116 Kfusion[23] = t77*(P[23][4]*t4+P[23][0]*t14+P[23][6]*t9-P[23][5]*t11-P[23][1]*t17+P[23][2]*t20+P[23][3]*t24);
t29
float t29
Definition: K_VELZ.c:28
t87
float t87
Definition: K_VELZ.c:90
t15
float t15
Definition: K_VELZ.c:16
t78
float t78
Definition: K_VELZ.c:34
t34
float t34
Definition: K_VELZ.c:33
t67
float t67
Definition: K_VELZ.c:78
t16
float t16
Definition: K_VELZ.c:17
t3
float t3
Definition: K_VELZ.c:2
t81
float t81
Definition: K_VELZ.c:44
t37
float t37
Definition: K_VELZ.c:38
t38
float t38
Definition: K_VELZ.c:39
t61
float t61
Definition: K_VELZ.c:70
t57
float t57
Definition: K_VELZ.c:64
t59
float t59
Definition: K_VELZ.c:66
t12
float t12
Definition: K_VELZ.c:12
t19
float t19
Definition: K_VELZ.c:21
t47
float t47
Definition: K_VELZ.c:52
t63
float t63
Definition: K_VELZ.c:72
t33
float t33
Definition: K_VELZ.c:32
t66
float t66
Definition: K_VELZ.c:75
t68
float t68
Definition: K_VELZ.c:79
t27
float t27
Definition: K_VELZ.c:18
t36
float t36
Definition: K_VELZ.c:37
t17
float t17
Definition: K_VELZ.c:19
t45
float t45
Definition: K_VELZ.c:48
t26
float t26
Definition: K_VELZ.c:14
t4
float t4
Definition: K_VELZ.c:3
t74
float t74
Definition: K_VELZ.c:87
t79
float t79
Definition: K_VELZ.c:35
t75
float t75
Definition: K_VELZ.c:88
t20
float t20
Definition: K_VELZ.c:23
t14
float t14
Definition: K_VELZ.c:15
t28
float t28
Definition: K_VELZ.c:22
t9
float t9
Definition: K_VELZ.c:8
t13
float t13
Definition: K_VELZ.c:13
t82
float t82
Definition: K_VELZ.c:89
t58
float t58
Definition: K_VELZ.c:65
t56
float t56
Definition: K_VELZ.c:63
t65
float t65
Definition: K_VELZ.c:74
t49
float t49
Definition: K_VELZ.c:54
t88
float t88
Definition: K_VELZ.c:67
t40
float t40
Definition: K_VELZ.c:41
t48
float t48
Definition: K_VELZ.c:53
t30
float t30
Definition: K_VELZ.c:29
t80
float t80
Definition: K_VELZ.c:43
t71
float t71
Definition: K_VELZ.c:82
t77
float t77
Definition: K_VELZ.c:92
t23
float t23
Definition: K_VELZ.c:26
t50
float t50
Definition: K_VELZ.c:55
Kfusion
Kfusion[0]
Definition: K_VELZ.c:93
t52
float t52
Definition: K_VELZ.c:57
t21
float t21
Definition: K_VELZ.c:24
t18
float t18
Definition: K_VELZ.c:20
t10
float t10
Definition: K_VELZ.c:9
t76
float t76
Definition: K_VELZ.c:91
t41
float t41
Definition: K_VELZ.c:42
t72
float t72
Definition: K_VELZ.c:83
t25
float t25
Definition: K_VELZ.c:10
t64
float t64
Definition: K_VELZ.c:73
t86
float t86
Definition: K_VELZ.c:60
t5
float t5
Definition: K_VELZ.c:4
t44
float t44
Definition: K_VELZ.c:47
t32
float t32
Definition: K_VELZ.c:31
t11
float t11
Definition: K_VELZ.c:11
t2
float t2
Definition: K_VELZ.c:1
t55
float t55
Definition: K_VELZ.c:62
t6
float t6
Definition: K_VELZ.c:5
t60
float t60
Definition: K_VELZ.c:69
t70
float t70
Definition: K_VELZ.c:81
t46
float t46
Definition: K_VELZ.c:49
t92
float t92
Definition: K_VELZ.c:85
t43
float t43
Definition: K_VELZ.c:46
t51
float t51
Definition: K_VELZ.c:56
t85
float t85
Definition: K_VELZ.c:59
t8
float t8
Definition: K_VELZ.c:7
t54
float t54
Definition: K_VELZ.c:61
t89
float t89
Definition: K_VELZ.c:68
t42
float t42
Definition: K_VELZ.c:45
t84
float t84
Definition: K_VELZ.c:51
t53
float t53
Definition: K_VELZ.c:58
P
P[0][0]
Definition: quatCovMat.c:44
t73
float t73
Definition: K_VELZ.c:84
t35
float t35
Definition: K_VELZ.c:36
t39
float t39
Definition: K_VELZ.c:40
t83
float t83
Definition: K_VELZ.c:50
t7
float t7
Definition: K_VELZ.c:6
t24
float t24
Definition: K_VELZ.c:27
t62
float t62
Definition: K_VELZ.c:71
t69
float t69
Definition: K_VELZ.c:80
t31
float t31
Definition: K_VELZ.c:30
t91
float t91
Definition: K_VELZ.c:77
t22
float t22
Definition: K_VELZ.c:25
t90
float t90
Definition: K_VELZ.c:76
t93
float t93
Definition: K_VELZ.c:86