- Generated by
1.8.13
|
PX4 Firmware
PX4 Autopilot Software http://px4.io
|
Go to the source code of this file.
Variables | |
| float | t2 = q0*q3*2.0f |
| float | t3 = q1*q2*2.0f |
| float | t4 = t2+t3 |
| float | t5 = q0*q0 |
| float | t6 = q1*q1 |
| float | t7 = q2*q2 |
| float | t8 = q3*q3 |
| float | t9 = t5+t6-t7-t8 |
| float | t10 = q0*q2*2.0f |
| float | t25 = q1*q3*2.0f |
| float | t11 = t10-t25 |
| float | t12 = q3*ve*2.0f |
| float | t13 = q0*vn*2.0f |
| float | t26 = q2*vd*2.0f |
| float | t14 = t12+t13-t26 |
| float | t15 = q3*vd*2.0f |
| float | t16 = q2*ve*2.0f |
| float | t17 = q1*vn*2.0f |
| float | t18 = t15+t16+t17 |
| float | t19 = q0*vd*2.0f |
| float | t20 = q2*vn*2.0f |
| float | t27 = q1*ve*2.0f |
| float | t21 = t19+t20-t27 |
| float | t22 = q1*vd*2.0f |
| float | t23 = q0*ve*2.0f |
| float | t28 = q3*vn*2.0f |
| float | t24 = t22+t23-t28 |
| float | t29 = P[0][0]*t14 |
| float | t30 = P[1][1]*t18 |
| float | t31 = P[4][5]*t9 |
| float | t32 = P[5][5]*t4 |
| float | t33 = P[0][5]*t14 |
| float | t34 = P[1][5]*t18 |
| float | t35 = P[3][5]*t24 |
| float | t79 = P[6][5]*t11 |
| float | t80 = P[2][5]*t21 |
| float | t36 = t31+t32+t33+t34+t35-t79-t80 |
| float | t37 = t4*t36 |
| float | t38 = P[4][6]*t9 |
| float | t39 = P[5][6]*t4 |
| float | t40 = P[0][6]*t14 |
| float | t41 = P[1][6]*t18 |
| float | t42 = P[3][6]*t24 |
| float | t81 = P[6][6]*t11 |
| float | t82 = P[2][6]*t21 |
| float | t43 = t38+t39+t40+t41+t42-t81-t82 |
| float | t44 = P[4][0]*t9 |
| float | t45 = P[5][0]*t4 |
| float | t46 = P[1][0]*t18 |
| float | t47 = P[3][0]*t24 |
| float | t84 = P[6][0]*t11 |
| float | t85 = P[2][0]*t21 |
| float | t48 = t29+t44+t45+t46+t47-t84-t85 |
| float | t49 = t14*t48 |
| float | t50 = P[4][1]*t9 |
| float | t51 = P[5][1]*t4 |
| float | t52 = P[0][1]*t14 |
| float | t53 = P[3][1]*t24 |
| float | t86 = P[6][1]*t11 |
| float | t87 = P[2][1]*t21 |
| float | t54 = t30+t50+t51+t52+t53-t86-t87 |
| float | t55 = t18*t54 |
| float | t56 = P[4][2]*t9 |
| float | t57 = P[5][2]*t4 |
| float | t58 = P[0][2]*t14 |
| float | t59 = P[1][2]*t18 |
| float | t60 = P[3][2]*t24 |
| float | t78 = P[2][2]*t21 |
| float | t88 = P[6][2]*t11 |
| float | t61 = t56+t57+t58+t59+t60-t78-t88 |
| float | t62 = P[4][3]*t9 |
| float | t63 = P[5][3]*t4 |
| float | t64 = P[0][3]*t14 |
| float | t65 = P[1][3]*t18 |
| float | t66 = P[3][3]*t24 |
| float | t90 = P[6][3]*t11 |
| float | t91 = P[2][3]*t21 |
| float | t67 = t62+t63+t64+t65+t66-t90-t91 |
| float | t68 = t24*t67 |
| float | t69 = P[4][4]*t9 |
| float | t70 = P[5][4]*t4 |
| float | t71 = P[0][4]*t14 |
| float | t72 = P[1][4]*t18 |
| float | t73 = P[3][4]*t24 |
| float | t92 = P[6][4]*t11 |
| float | t93 = P[2][4]*t21 |
| float | t74 = t69+t70+t71+t72+t73-t92-t93 |
| float | t75 = t9*t74 |
| float | t83 = t11*t43 |
| float | t89 = t21*t61 |
| float | t76 = R_VEL+t37+t49+t55+t68+t75-t83-t89 |
| float | t77 = 1.0f/t76 |
| Kfusion [0] = t77*(t29+P[0][5]*t4+P[0][4]*t9-P[0][6]*t11+P[0][1]*t18-P[0][2]*t21+P[0][3]*t24) | |
Definition at line 93 of file K_VELX.c.
Referenced by Ekf::fuseAirspeed(), Ekf::fuseDeclination(), Ekf::fuseDrag(), Ekf::fuseGpsAntYaw(), Ekf::fuseHeading(), Ekf::fuseMag(), Ekf::fuseOptFlow(), Ekf::fuseSideslip(), and Ekf::fuseVelPosHeight().
1.8.13