PX4 Firmware
PX4 Autopilot Software http://px4.io
LOSX.c
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1 float t2 = 1.0f/range;
2 float t3 = Tbs.b.y*q0*2.0f;
3 float t4 = Tbs.b.x*q3*2.0f;
4 float t18 = Tbs.b.z*q1*2.0f;
5 float t5 = t3+t4-t18;
6 float t6 = Tbs.b.y*q1*2.0f;
7 float t7 = Tbs.b.z*q0*2.0f;
8 float t16 = Tbs.b.x*q2*2.0f;
9 float t8 = t6+t7-t16;
10 float t9 = Tbs.b.x*q0*2.0f;
11 float t10 = Tbs.b.z*q2*2.0f;
12 float t17 = Tbs.b.y*q3*2.0f;
13 float t11 = t9+t10-t17;
14 float t12 = Tbs.b.x*q1*2.0f;
15 float t13 = Tbs.b.y*q2*2.0f;
16 float t14 = Tbs.b.z*q3*2.0f;
17 float t15 = t12+t13+t14;
18 float t19 = q0*q0;
19 float t20 = q1*q1;
20 float t21 = q2*q2;
21 float t22 = q3*q3;
22 float t23 = q0*q3*2.0f;
23 float t24 = q0*q2*2.0f;
24 float t25 = q1*q3*2.0f;
25 float t26 = q0*q1*2.0f;
26 float t27 = t19+t20-t21-t22;
27 float t28 = Tbs.b.x*t27;
28 float t29 = q1*q2*2.0f;
29 float t30 = t24+t25;
30 float t31 = Tbs.b.z*t30;
31 float t32 = t19-t20+t21-t22;
32 float t33 = Tbs.b.y*t32;
33 float t34 = t23+t29;
34 float t35 = Tbs.b.x*t34;
35 float t36 = q2*q3*2.0f;
36 float t37 = t19-t20-t21+t22;
37 float t38 = Tbs.b.z*t37;
38 float t39 = t24-t25;
39 float t40 = t26+t36;
40 float t41 = Tbs.b.y*t40;
41 float t60 = Tbs.b.x*t39;
42 float t42 = t38+t41-t60;
43 float t43 = t8*vd;
44 float t44 = t5*ve;
45 float t45 = t11*vn;
46 float t46 = t43+t44+t45;
47 float t47 = t5*vd;
48 float t48 = t15*vn;
49 float t62 = t8*ve;
50 float t49 = t47+t48-t62;
51 float t50 = t15*ve;
52 float t51 = t8*vn;
53 float t63 = t11*vd;
54 float t52 = t50+t51-t63;
55 float t53 = t15*vd;
56 float t54 = t11*ve;
57 float t64 = t5*vn;
58 float t55 = t53+t54-t64;
59 float t56 = t23-t29;
60 float t65 = Tbs.b.y*t56;
61 float t57 = t28+t31-t65;
62 float t58 = t26-t36;
63 float t66 = Tbs.b.z*t58;
64 float t59 = t33+t35-t66;
65 float t61 = P[0][0]*t2*t46;
66 float t67 = P[1][1]*t2*t49;
67 float t68 = P[4][0]*t2*t57;
68 float t69 = P[5][0]*t2*t59;
69 float t70 = P[6][0]*t2*t42;
70 float t71 = P[1][0]*t2*t49;
71 float t72 = P[2][0]*t2*t52;
72 float t73 = P[3][0]*t2*t55;
73 float t74 = t61+t68+t69+t70+t71+t72+t73;
74 float t75 = t2*t46*t74;
75 float t76 = P[4][1]*t2*t57;
76 float t77 = P[5][1]*t2*t59;
77 float t78 = P[6][1]*t2*t42;
78 float t79 = P[0][1]*t2*t46;
79 float t80 = P[2][1]*t2*t52;
80 float t81 = P[3][1]*t2*t55;
81 float t82 = t67+t76+t77+t78+t79+t80+t81;
82 float t83 = t2*t49*t82;
83 float t84 = P[4][2]*t2*t57;
84 float t85 = P[5][2]*t2*t59;
85 float t86 = P[6][2]*t2*t42;
86 float t87 = P[0][2]*t2*t46;
87 float t88 = P[1][2]*t2*t49;
88 float t89 = P[2][2]*t2*t52;
89 float t90 = P[3][2]*t2*t55;
90 float t91 = t84+t85+t86+t87+t88+t89+t90;
91 float t92 = t2*t52*t91;
92 float t93 = P[4][3]*t2*t57;
93 float t94 = P[5][3]*t2*t59;
94 float t95 = P[6][3]*t2*t42;
95 float t96 = P[0][3]*t2*t46;
96 float t97 = P[1][3]*t2*t49;
97 float t98 = P[2][3]*t2*t52;
98 float t99 = P[3][3]*t2*t55;
99 float t100 = t93+t94+t95+t96+t97+t98+t99;
100 float t101 = t2*t55*t100;
101 float t102 = P[4][4]*t2*t57;
102 float t103 = P[5][4]*t2*t59;
103 float t104 = P[6][4]*t2*t42;
104 float t105 = P[0][4]*t2*t46;
105 float t106 = P[1][4]*t2*t49;
106 float t107 = P[2][4]*t2*t52;
107 float t108 = P[3][4]*t2*t55;
108 float t109 = t102+t103+t104+t105+t106+t107+t108;
109 float t110 = t2*t57*t109;
110 float t111 = P[4][5]*t2*t57;
111 float t112 = P[5][5]*t2*t59;
112 float t113 = P[6][5]*t2*t42;
113 float t114 = P[0][5]*t2*t46;
114 float t115 = P[1][5]*t2*t49;
115 float t116 = P[2][5]*t2*t52;
116 float t117 = P[3][5]*t2*t55;
117 float t118 = t111+t112+t113+t114+t115+t116+t117;
118 float t119 = t2*t59*t118;
119 float t120 = P[4][6]*t2*t57;
120 float t121 = P[5][6]*t2*t59;
121 float t122 = P[6][6]*t2*t42;
122 float t123 = P[0][6]*t2*t46;
123 float t124 = P[1][6]*t2*t49;
124 float t125 = P[2][6]*t2*t52;
125 float t126 = P[3][6]*t2*t55;
126 float t127 = t120+t121+t122+t123+t124+t125+t126;
127 float t128 = t2*t42*t127;
128 float t129 = R_LOS+t75+t83+t92+t101+t110+t119+t128;
129 float t130 = 1.0f/t129;
130 H_LOS[0] = t2*t46;
131 H_LOS[1] = t2*t49;
132 H_LOS[2] = t2*t52;
133 H_LOS[3] = t2*t55;
134 H_LOS[4] = t2*(t28+t31-Tbs.b.y*(t23-q1*q2*2.0));
135 H_LOS[5] = t2*(t33+t35-Tbs.b.z*(t26-q2*q3*2.0));
136 H_LOS[6] = t2*t42;
137 Kfusion[0] = t130*(t61+P[0][6]*t2*t42+P[0][1]*t2*t49+P[0][2]*t2*t52+P[0][3]*t2*t55+P[0][4]*t2*t57+P[0][5]*t2*t59);
138 Kfusion[1] = t130*(t67+P[1][0]*t2*t46+P[1][6]*t2*t42+P[1][2]*t2*t52+P[1][3]*t2*t55+P[1][4]*t2*t57+P[1][5]*t2*t59);
139 Kfusion[2] = t130*(t89+P[2][0]*t2*t46+P[2][6]*t2*t42+P[2][1]*t2*t49+P[2][3]*t2*t55+P[2][4]*t2*t57+P[2][5]*t2*t59);
140 Kfusion[3] = t130*(t99+P[3][0]*t2*t46+P[3][6]*t2*t42+P[3][1]*t2*t49+P[3][2]*t2*t52+P[3][4]*t2*t57+P[3][5]*t2*t59);
141 Kfusion[4] = t130*(t102+P[4][0]*t2*t46+P[4][6]*t2*t42+P[4][1]*t2*t49+P[4][2]*t2*t52+P[4][3]*t2*t55+P[4][5]*t2*t59);
142 Kfusion[5] = t130*(t112+P[5][0]*t2*t46+P[5][6]*t2*t42+P[5][1]*t2*t49+P[5][2]*t2*t52+P[5][3]*t2*t55+P[5][4]*t2*t57);
143 Kfusion[6] = t130*(t122+P[6][0]*t2*t46+P[6][1]*t2*t49+P[6][2]*t2*t52+P[6][3]*t2*t55+P[6][4]*t2*t57+P[6][5]*t2*t59);
144 Kfusion[7] = t130*(P[7][0]*t2*t46+P[7][6]*t2*t42+P[7][1]*t2*t49+P[7][2]*t2*t52+P[7][3]*t2*t55+P[7][4]*t2*t57+P[7][5]*t2*t59);
145 Kfusion[8] = t130*(P[8][0]*t2*t46+P[8][6]*t2*t42+P[8][1]*t2*t49+P[8][2]*t2*t52+P[8][3]*t2*t55+P[8][4]*t2*t57+P[8][5]*t2*t59);
146 Kfusion[9] = t130*(P[9][0]*t2*t46+P[9][6]*t2*t42+P[9][1]*t2*t49+P[9][2]*t2*t52+P[9][3]*t2*t55+P[9][4]*t2*t57+P[9][5]*t2*t59);
147 Kfusion[10] = t130*(P[10][0]*t2*t46+P[10][6]*t2*t42+P[10][1]*t2*t49+P[10][2]*t2*t52+P[10][3]*t2*t55+P[10][4]*t2*t57+P[10][5]*t2*t59);
148 Kfusion[11] = t130*(P[11][0]*t2*t46+P[11][6]*t2*t42+P[11][1]*t2*t49+P[11][2]*t2*t52+P[11][3]*t2*t55+P[11][4]*t2*t57+P[11][5]*t2*t59);
149 Kfusion[12] = t130*(P[12][0]*t2*t46+P[12][6]*t2*t42+P[12][1]*t2*t49+P[12][2]*t2*t52+P[12][3]*t2*t55+P[12][4]*t2*t57+P[12][5]*t2*t59);
150 Kfusion[13] = t130*(P[13][0]*t2*t46+P[13][6]*t2*t42+P[13][1]*t2*t49+P[13][2]*t2*t52+P[13][3]*t2*t55+P[13][4]*t2*t57+P[13][5]*t2*t59);
151 Kfusion[14] = t130*(P[14][0]*t2*t46+P[14][6]*t2*t42+P[14][1]*t2*t49+P[14][2]*t2*t52+P[14][3]*t2*t55+P[14][4]*t2*t57+P[14][5]*t2*t59);
152 Kfusion[15] = t130*(P[15][0]*t2*t46+P[15][6]*t2*t42+P[15][1]*t2*t49+P[15][2]*t2*t52+P[15][3]*t2*t55+P[15][4]*t2*t57+P[15][5]*t2*t59);
153 Kfusion[16] = t130*(P[16][0]*t2*t46+P[16][6]*t2*t42+P[16][1]*t2*t49+P[16][2]*t2*t52+P[16][3]*t2*t55+P[16][4]*t2*t57+P[16][5]*t2*t59);
154 Kfusion[17] = t130*(P[17][0]*t2*t46+P[17][6]*t2*t42+P[17][1]*t2*t49+P[17][2]*t2*t52+P[17][3]*t2*t55+P[17][4]*t2*t57+P[17][5]*t2*t59);
155 Kfusion[18] = t130*(P[18][0]*t2*t46+P[18][6]*t2*t42+P[18][1]*t2*t49+P[18][2]*t2*t52+P[18][3]*t2*t55+P[18][4]*t2*t57+P[18][5]*t2*t59);
156 Kfusion[19] = t130*(P[19][0]*t2*t46+P[19][6]*t2*t42+P[19][1]*t2*t49+P[19][2]*t2*t52+P[19][3]*t2*t55+P[19][4]*t2*t57+P[19][5]*t2*t59);
157 Kfusion[20] = t130*(P[20][0]*t2*t46+P[20][6]*t2*t42+P[20][1]*t2*t49+P[20][2]*t2*t52+P[20][3]*t2*t55+P[20][4]*t2*t57+P[20][5]*t2*t59);
158 Kfusion[21] = t130*(P[21][0]*t2*t46+P[21][6]*t2*t42+P[21][1]*t2*t49+P[21][2]*t2*t52+P[21][3]*t2*t55+P[21][4]*t2*t57+P[21][5]*t2*t59);
159 Kfusion[22] = t130*(P[22][0]*t2*t46+P[22][6]*t2*t42+P[22][1]*t2*t49+P[22][2]*t2*t52+P[22][3]*t2*t55+P[22][4]*t2*t57+P[22][5]*t2*t59);
160 Kfusion[23] = t130*(P[23][0]*t2*t46+P[23][6]*t2*t42+P[23][1]*t2*t49+P[23][2]*t2*t52+P[23][3]*t2*t55+P[23][4]*t2*t57+P[23][5]*t2*t59);
t5
float t5
Definition: LOSX.c:5
t74
float t74
Definition: LOSX.c:73
t43
float t43
Definition: LOSX.c:43
t23
float t23
Definition: LOSX.c:22
t13
float t13
Definition: LOSX.c:15
t85
float t85
Definition: LOSX.c:84
t44
float t44
Definition: LOSX.c:44
t17
float t17
Definition: LOSX.c:12
t7
float t7
Definition: LOSX.c:7
t111
float t111
Definition: LOSX.c:110
t75
float t75
Definition: LOSX.c:74
t120
float t120
Definition: LOSX.c:119
t35
float t35
Definition: LOSX.c:34
t101
float t101
Definition: LOSX.c:100
t102
float t102
Definition: LOSX.c:101
t129
float t129
Definition: LOSX.c:128
t71
float t71
Definition: LOSX.c:70
t29
float t29
Definition: LOSX.c:28
t123
float t123
Definition: LOSX.c:122
t18
float t18
Definition: LOSX.c:4
t21
float t21
Definition: LOSX.c:20
t92
float t92
Definition: LOSX.c:91
t87
float t87
Definition: LOSX.c:86
t27
float t27
Definition: LOSX.c:26
t99
float t99
Definition: LOSX.c:98
t32
float t32
Definition: LOSX.c:31
t103
float t103
Definition: LOSX.c:102
t98
float t98
Definition: LOSX.c:97
t4
float t4
Definition: LOSX.c:3
t50
float t50
Definition: LOSX.c:51
t2
float t2
Definition: LOSX.c:1
t12
float t12
Definition: LOSX.c:14
t82
float t82
Definition: LOSX.c:81
t16
float t16
Definition: LOSX.c:8
t78
float t78
Definition: LOSX.c:77
H_LOS
H_LOS[0]
Definition: LOSX.c:130
t26
float t26
Definition: LOSX.c:25
t60
float t60
Definition: LOSX.c:41
t77
float t77
Definition: LOSX.c:76
t14
float t14
Definition: LOSX.c:16
t90
float t90
Definition: LOSX.c:89
t40
float t40
Definition: LOSX.c:39
t121
float t121
Definition: LOSX.c:120
t56
float t56
Definition: LOSX.c:59
t73
float t73
Definition: LOSX.c:72
t113
float t113
Definition: LOSX.c:112
t42
float t42
Definition: LOSX.c:42
t41
float t41
Definition: LOSX.c:40
t38
float t38
Definition: LOSX.c:37
t62
float t62
Definition: LOSX.c:49
t125
float t125
Definition: LOSX.c:124
t37
float t37
Definition: LOSX.c:36
t72
float t72
Definition: LOSX.c:71
t112
float t112
Definition: LOSX.c:111
t51
float t51
Definition: LOSX.c:52
Kfusion
Kfusion[0]
Definition: LOSX.c:137
t58
float t58
Definition: LOSX.c:62
t3
float t3
Definition: LOSX.c:2
t104
float t104
Definition: LOSX.c:103
t94
float t94
Definition: LOSX.c:93
t31
float t31
Definition: LOSX.c:30
t45
float t45
Definition: LOSX.c:45
t48
float t48
Definition: LOSX.c:48
t20
float t20
Definition: LOSX.c:19
t114
float t114
Definition: LOSX.c:113
t59
float t59
Definition: LOSX.c:64
t67
float t67
Definition: LOSX.c:66
t106
float t106
Definition: LOSX.c:105
t22
float t22
Definition: LOSX.c:21
t100
float t100
Definition: LOSX.c:99
t55
float t55
Definition: LOSX.c:58
t105
float t105
Definition: LOSX.c:104
t96
float t96
Definition: LOSX.c:95
t126
float t126
Definition: LOSX.c:125
t15
float t15
Definition: LOSX.c:17
t86
float t86
Definition: LOSX.c:85
t95
float t95
Definition: LOSX.c:94
t97
float t97
Definition: LOSX.c:96
t25
float t25
Definition: LOSX.c:24
t57
float t57
Definition: LOSX.c:61
t34
float t34
Definition: LOSX.c:33
t8
float t8
Definition: LOSX.c:9
t89
float t89
Definition: LOSX.c:88
t53
float t53
Definition: LOSX.c:55
t130
float t130
Definition: LOSX.c:129
t30
float t30
Definition: LOSX.c:29
t19
float t19
Definition: LOSX.c:18
t65
float t65
Definition: LOSX.c:60
t110
float t110
Definition: LOSX.c:109
t69
float t69
Definition: LOSX.c:68
t61
float t61
Definition: LOSX.c:65
t47
float t47
Definition: LOSX.c:47
t128
float t128
Definition: LOSX.c:127
t9
float t9
Definition: LOSX.c:10
t63
float t63
Definition: LOSX.c:53
t109
float t109
Definition: LOSX.c:108
t52
float t52
Definition: LOSX.c:54
t115
float t115
Definition: LOSX.c:114
t46
float t46
Definition: LOSX.c:46
t66
float t66
Definition: LOSX.c:63
t68
float t68
Definition: LOSX.c:67
t88
float t88
Definition: LOSX.c:87
t80
float t80
Definition: LOSX.c:79
t54
float t54
Definition: LOSX.c:56
t107
float t107
Definition: LOSX.c:106
t116
float t116
Definition: LOSX.c:115
t10
float t10
Definition: LOSX.c:11
t84
float t84
Definition: LOSX.c:83
t76
float t76
Definition: LOSX.c:75
P
P[0][0]
Definition: quatCovMat.c:44
t64
float t64
Definition: LOSX.c:57
t124
float t124
Definition: LOSX.c:123
t108
float t108
Definition: LOSX.c:107
t122
float t122
Definition: LOSX.c:121
t117
float t117
Definition: LOSX.c:116
t79
float t79
Definition: LOSX.c:78
t28
float t28
Definition: LOSX.c:27
t91
float t91
Definition: LOSX.c:90
t24
float t24
Definition: LOSX.c:23
t49
float t49
Definition: LOSX.c:50
t6
float t6
Definition: LOSX.c:6
t81
float t81
Definition: LOSX.c:80
t39
float t39
Definition: LOSX.c:38
t118
float t118
Definition: LOSX.c:117
t70
float t70
Definition: LOSX.c:69
t119
float t119
Definition: LOSX.c:118
t33
float t33
Definition: LOSX.c:32
t11
float t11
Definition: LOSX.c:13
t93
float t93
Definition: LOSX.c:92
t36
float t36
Definition: LOSX.c:35
t127
float t127
Definition: LOSX.c:126
t83
float t83
Definition: LOSX.c:82