YawCovariance.c File Reference

Go to the source code of this file.

Variables
float	SG [3] = sq(_state.quat_nominal(0)) - sq(_state.quat_nominal(1)) - sq(_state.quat_nominal(2)) + sq(_state.quat_nominal(3))
float	SQ [4] = 0.5f * ((_state.quat_nominal(1)*SG[0]) - (_state.quat_nominal(0)*SG[2]) + (_state.quat_nominal(3)*SG[1]))
const float	daYawVar = TBD
	P [0][0] = yaw_variance*sq(SQ[2])

Variable Documentation

daYawVar

const float daYawVar = TBD

Definition at line 23 of file YawCovariance.c.

P

P[3][2] = yaw_variance*sq(SQ[2])

Definition at line 27 of file YawCovariance.c.

SG

SG[2] = sq(_state.quat_nominal(0)) - sq(_state.quat_nominal(1)) - sq(_state.quat_nominal(2)) + sq(_state.quat_nominal(3))

Definition at line 11 of file YawCovariance.c.

Referenced by Ekf::increaseQuatYawErrVariance(), and Ekf::predictCovariance().

SQ

SQ[3] = 0.5f * ((_state.quat_nominal(1)*SG[0]) - (_state.quat_nominal(0)*SG[2]) + (_state.quat_nominal(3)*SG[1]))

Definition at line 16 of file YawCovariance.c.

Referenced by Ekf::increaseQuatYawErrVariance(), and Ekf::predictCovariance().