mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-28 14:43:34 +08:00
Deleted old cruft
This commit is contained in:
Lorenz Meier
@@ -1,261 +0,0 @@
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/*
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* position_estimator.c
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*
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* Code generation for function 'position_estimator'
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*
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* C source code generated on: Fri Jun 8 13:31:21 2012
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*
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*/
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/* Include files */
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#include "rt_nonfinite.h"
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#include "position_estimator.h"
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/* Type Definitions */
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/* Named Constants */
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/* Variable Declarations */
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/* Variable Definitions */
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/* Function Declarations */
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/* Function Definitions */
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void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T
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xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T
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predict_only, real32_T xapo1[6], real32_T Papo1[36])
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{
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real32_T fv0[6];
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real32_T fv1[6];
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real32_T I[36];
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real32_T xapri[6];
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int32_T i;
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int32_T r1;
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static const real32_T fv2[36] = { 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.004F,
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1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
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0.004F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F,
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0.0F, 0.0F, 0.004F, 1.0F };
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static const real32_T fv3[12] = { 0.0F, 0.0F, 0.1744F, 87.2F, 0.0F, 0.0F,
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-0.1744F, -87.2F, 0.0F, 0.0F, 0.0F, 0.0F };
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int32_T r2;
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real32_T Papri[36];
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real32_T maxval;
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static const real32_T fv4[36] = { 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
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1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F,
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0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F,
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0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
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static const real32_T fv5[36] = { 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
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1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F,
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0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F,
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0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
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real32_T K[18];
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static const int8_T iv0[18] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
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0, 0 };
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real32_T fv6[9];
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static const int8_T iv1[18] = { 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
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1, 0 };
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real32_T b_gps_covariance[9];
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real32_T A[9];
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real32_T B[18];
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int32_T r3;
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real32_T a21;
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real32_T Y[18];
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real32_T b_z[3];
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int8_T b_I[36];
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/* if predit_onli == 1: no update step: use this when no new gps data is available */
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/* %initialization */
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/* use model F=m*a x''=F/m */
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/* 250Hz---> dT = 0.004s */
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/* u=[phi;theta] */
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/* x=[px;vx;py;vy]; */
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/* %------------------------------------------ */
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/* %------------------------------------------------ */
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/* R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; */
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/* process Covariance Matrix */
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/* measurement Covariance Matrix */
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/* %prediction */
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for (i = 0; i < 6; i++) {
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fv0[i] = 0.0F;
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for (r1 = 0; r1 < 6; r1++) {
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fv0[i] += fv2[i + 6 * r1] * xapo[r1];
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}
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fv1[i] = 0.0F;
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for (r1 = 0; r1 < 2; r1++) {
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fv1[i] += fv3[i + 6 * r1] * u[r1];
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}
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xapri[i] = fv0[i] + fv1[i];
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for (r1 = 0; r1 < 6; r1++) {
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I[i + 6 * r1] = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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I[i + 6 * r1] += fv2[i + 6 * r2] * Papo[r2 + 6 * r1];
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}
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}
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}
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for (i = 0; i < 6; i++) {
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for (r1 = 0; r1 < 6; r1++) {
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maxval = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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maxval += I[i + 6 * r2] * fv4[r2 + 6 * r1];
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}
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Papri[i + 6 * r1] = maxval + fv5[i + 6 * r1];
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}
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}
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if (1 != predict_only) {
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/* update */
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for (i = 0; i < 3; i++) {
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for (r1 = 0; r1 < 6; r1++) {
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K[i + 3 * r1] = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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K[i + 3 * r1] += (real32_T)iv0[i + 3 * r2] * Papri[r2 + 6 * r1];
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}
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}
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}
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for (i = 0; i < 3; i++) {
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for (r1 = 0; r1 < 3; r1++) {
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fv6[i + 3 * r1] = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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fv6[i + 3 * r1] += K[r1 + 3 * r2] * (real32_T)iv1[r2 + 6 * i];
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}
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}
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}
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b_gps_covariance[0] = gps_covariance[0];
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b_gps_covariance[1] = 0.0F;
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b_gps_covariance[2] = 0.0F;
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b_gps_covariance[3] = 0.0F;
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b_gps_covariance[4] = gps_covariance[1];
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b_gps_covariance[5] = 0.0F;
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b_gps_covariance[6] = 0.0F;
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b_gps_covariance[7] = 0.0F;
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b_gps_covariance[8] = gps_covariance[2];
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for (i = 0; i < 3; i++) {
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for (r1 = 0; r1 < 3; r1++) {
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A[r1 + 3 * i] = fv6[r1 + 3 * i] + b_gps_covariance[r1 + 3 * i];
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}
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for (r1 = 0; r1 < 6; r1++) {
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B[i + 3 * r1] = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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B[i + 3 * r1] += Papri[r1 + 6 * r2] * (real32_T)iv1[r2 + 6 * i];
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}
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}
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}
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r1 = 0;
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r2 = 1;
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r3 = 2;
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maxval = (real32_T)fabs(A[0]);
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a21 = (real32_T)fabs(A[1]);
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if (a21 > maxval) {
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maxval = a21;
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r1 = 1;
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r2 = 0;
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}
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if ((real32_T)fabs(A[2]) > maxval) {
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r1 = 2;
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r2 = 1;
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r3 = 0;
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}
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A[r2] /= A[r1];
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A[r3] /= A[r1];
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A[3 + r2] -= A[r2] * A[3 + r1];
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A[3 + r3] -= A[r3] * A[3 + r1];
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A[6 + r2] -= A[r2] * A[6 + r1];
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A[6 + r3] -= A[r3] * A[6 + r1];
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if ((real32_T)fabs(A[3 + r3]) > (real32_T)fabs(A[3 + r2])) {
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i = r2;
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r2 = r3;
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r3 = i;
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}
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A[3 + r3] /= A[3 + r2];
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A[6 + r3] -= A[3 + r3] * A[6 + r2];
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for (i = 0; i < 6; i++) {
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Y[3 * i] = B[r1 + 3 * i];
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Y[1 + 3 * i] = B[r2 + 3 * i] - Y[3 * i] * A[r2];
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Y[2 + 3 * i] = (B[r3 + 3 * i] - Y[3 * i] * A[r3]) - Y[1 + 3 * i] * A[3 +
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r3];
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Y[2 + 3 * i] /= A[6 + r3];
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Y[3 * i] -= Y[2 + 3 * i] * A[6 + r1];
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Y[1 + 3 * i] -= Y[2 + 3 * i] * A[6 + r2];
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Y[1 + 3 * i] /= A[3 + r2];
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Y[3 * i] -= Y[1 + 3 * i] * A[3 + r1];
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Y[3 * i] /= A[r1];
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}
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for (i = 0; i < 3; i++) {
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for (r1 = 0; r1 < 6; r1++) {
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K[r1 + 6 * i] = Y[i + 3 * r1];
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}
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}
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for (i = 0; i < 3; i++) {
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maxval = 0.0F;
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for (r1 = 0; r1 < 6; r1++) {
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maxval += (real32_T)iv0[i + 3 * r1] * xapri[r1];
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}
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b_z[i] = z[i] - maxval;
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}
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for (i = 0; i < 6; i++) {
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maxval = 0.0F;
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for (r1 = 0; r1 < 3; r1++) {
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maxval += K[i + 6 * r1] * b_z[r1];
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}
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xapo1[i] = xapri[i] + maxval;
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}
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for (i = 0; i < 36; i++) {
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b_I[i] = 0;
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}
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for (i = 0; i < 6; i++) {
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b_I[i + 6 * i] = 1;
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}
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for (i = 0; i < 6; i++) {
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for (r1 = 0; r1 < 6; r1++) {
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maxval = 0.0F;
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for (r2 = 0; r2 < 3; r2++) {
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maxval += K[i + 6 * r2] * (real32_T)iv0[r2 + 3 * r1];
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}
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I[i + 6 * r1] = (real32_T)b_I[i + 6 * r1] - maxval;
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}
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}
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for (i = 0; i < 6; i++) {
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for (r1 = 0; r1 < 6; r1++) {
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Papo1[i + 6 * r1] = 0.0F;
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for (r2 = 0; r2 < 6; r2++) {
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Papo1[i + 6 * r1] += I[i + 6 * r2] * Papri[r2 + 6 * r1];
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}
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}
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}
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} else {
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memcpy((void *)&Papo1[0], (void *)&Papri[0], 36U * sizeof(real32_T));
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for (i = 0; i < 6; i++) {
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xapo1[i] = xapri[i];
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}
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}
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}
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/* End of code generation (position_estimator.c) */
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@@ -1,32 +0,0 @@
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/*
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* position_estimator.h
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*
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* Code generation for function 'position_estimator'
|
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*
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* C source code generated on: Fri Jun 8 13:31:21 2012
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*
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*/
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#ifndef __POSITION_ESTIMATOR_H__
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#define __POSITION_ESTIMATOR_H__
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/* Include files */
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "rtwtypes.h"
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#include "position_estimator_types.h"
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/* Type Definitions */
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/* Named Constants */
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/* Variable Declarations */
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/* Variable Definitions */
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/* Function Declarations */
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extern void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T predict_only, real32_T xapo1[6], real32_T Papo1[36]);
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#endif
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/* End of code generation (position_estimator.h) */
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@@ -1,31 +0,0 @@
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/*
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* position_estimator_initialize.c
|
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*
|
||||
* Code generation for function 'position_estimator_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
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*
|
||||
*/
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||||
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/* Include files */
|
||||
#include "rt_nonfinite.h"
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#include "position_estimator.h"
|
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#include "position_estimator_initialize.h"
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/* Type Definitions */
|
||||
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||||
/* Named Constants */
|
||||
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||||
/* Variable Declarations */
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||||
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/* Variable Definitions */
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||||
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||||
/* Function Declarations */
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||||
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/* Function Definitions */
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void position_estimator_initialize(void)
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{
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||||
rt_InitInfAndNaN(8U);
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}
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/* End of code generation (position_estimator_initialize.c) */
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@@ -1,32 +0,0 @@
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/*
|
||||
* position_estimator_initialize.h
|
||||
*
|
||||
* Code generation for function 'position_estimator_initialize'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
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||||
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#ifndef __POSITION_ESTIMATOR_INITIALIZE_H__
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#define __POSITION_ESTIMATOR_INITIALIZE_H__
|
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/* Include files */
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "position_estimator_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void position_estimator_initialize(void);
|
||||
#endif
|
||||
/* End of code generation (position_estimator_initialize.h) */
|
||||
@@ -1,31 +0,0 @@
|
||||
/*
|
||||
* position_estimator_terminate.c
|
||||
*
|
||||
* Code generation for function 'position_estimator_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/* Include files */
|
||||
#include "rt_nonfinite.h"
|
||||
#include "position_estimator.h"
|
||||
#include "position_estimator_terminate.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
|
||||
/* Function Definitions */
|
||||
void position_estimator_terminate(void)
|
||||
{
|
||||
/* (no terminate code required) */
|
||||
}
|
||||
|
||||
/* End of code generation (position_estimator_terminate.c) */
|
||||
@@ -1,32 +0,0 @@
|
||||
/*
|
||||
* position_estimator_terminate.h
|
||||
*
|
||||
* Code generation for function 'position_estimator_terminate'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITION_ESTIMATOR_TERMINATE_H__
|
||||
#define __POSITION_ESTIMATOR_TERMINATE_H__
|
||||
/* Include files */
|
||||
#include <math.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
|
||||
#include "rtwtypes.h"
|
||||
#include "position_estimator_types.h"
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
/* Named Constants */
|
||||
|
||||
/* Variable Declarations */
|
||||
|
||||
/* Variable Definitions */
|
||||
|
||||
/* Function Declarations */
|
||||
extern void position_estimator_terminate(void);
|
||||
#endif
|
||||
/* End of code generation (position_estimator_terminate.h) */
|
||||
@@ -1,16 +0,0 @@
|
||||
/*
|
||||
* position_estimator_types.h
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __POSITION_ESTIMATOR_TYPES_H__
|
||||
#define __POSITION_ESTIMATOR_TYPES_H__
|
||||
|
||||
/* Type Definitions */
|
||||
|
||||
#endif
|
||||
/* End of code generation (position_estimator_types.h) */
|
||||
@@ -1,139 +0,0 @@
|
||||
/*
|
||||
* rtGetInf.c
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finite, Inf and MinusInf
|
||||
*/
|
||||
#include "rtGetInf.h"
|
||||
#define NumBitsPerChar 8U
|
||||
|
||||
/* Function: rtGetInf ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtInf needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetInf(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T inf = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
inf = rtGetInfF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
inf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
inf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return inf;
|
||||
}
|
||||
|
||||
/* Function: rtGetInfF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtInfF needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetInfF(void)
|
||||
{
|
||||
IEEESingle infF;
|
||||
infF.wordL.wordLuint = 0x7F800000U;
|
||||
return infF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* Function: rtGetMinusInf ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtMinusInf needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetMinusInf(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T minf = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
minf = rtGetMinusInfF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
minf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF00000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
minf = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return minf;
|
||||
}
|
||||
|
||||
/* Function: rtGetMinusInfF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtMinusInfF needed by the generated code.
|
||||
* Inf is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetMinusInfF(void)
|
||||
{
|
||||
IEEESingle minfF;
|
||||
minfF.wordL.wordLuint = 0xFF800000U;
|
||||
return minfF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* End of code generation (rtGetInf.c) */
|
||||
@@ -1,23 +0,0 @@
|
||||
/*
|
||||
* rtGetInf.h
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTGETINF_H__
|
||||
#define __RTGETINF_H__
|
||||
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
extern real_T rtGetInf(void);
|
||||
extern real32_T rtGetInfF(void);
|
||||
extern real_T rtGetMinusInf(void);
|
||||
extern real32_T rtGetMinusInfF(void);
|
||||
|
||||
#endif
|
||||
/* End of code generation (rtGetInf.h) */
|
||||
@@ -1,96 +0,0 @@
|
||||
/*
|
||||
* rtGetNaN.c
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finite, NaN
|
||||
*/
|
||||
#include "rtGetNaN.h"
|
||||
#define NumBitsPerChar 8U
|
||||
|
||||
/* Function: rtGetNaN ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtNaN needed by the generated code.
|
||||
* NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real_T rtGetNaN(void)
|
||||
{
|
||||
size_t bitsPerReal = sizeof(real_T) * (NumBitsPerChar);
|
||||
real_T nan = 0.0;
|
||||
if (bitsPerReal == 32U) {
|
||||
nan = rtGetNaNF();
|
||||
} else {
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
union {
|
||||
LittleEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0xFFF80000U;
|
||||
tmpVal.bitVal.words.wordL = 0x00000000U;
|
||||
nan = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
union {
|
||||
BigEndianIEEEDouble bitVal;
|
||||
real_T fltVal;
|
||||
} tmpVal;
|
||||
|
||||
tmpVal.bitVal.words.wordH = 0x7FFFFFFFU;
|
||||
tmpVal.bitVal.words.wordL = 0xFFFFFFFFU;
|
||||
nan = tmpVal.fltVal;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return nan;
|
||||
}
|
||||
|
||||
/* Function: rtGetNaNF ==================================================
|
||||
* Abstract:
|
||||
* Initialize rtNaNF needed by the generated code.
|
||||
* NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
real32_T rtGetNaNF(void)
|
||||
{
|
||||
IEEESingle nanF = { { 0 } };
|
||||
uint16_T one = 1U;
|
||||
enum {
|
||||
LittleEndian,
|
||||
BigEndian
|
||||
} machByteOrder = (*((uint8_T *) &one) == 1U) ? LittleEndian : BigEndian;
|
||||
switch (machByteOrder) {
|
||||
case LittleEndian:
|
||||
{
|
||||
nanF.wordL.wordLuint = 0xFFC00000U;
|
||||
break;
|
||||
}
|
||||
|
||||
case BigEndian:
|
||||
{
|
||||
nanF.wordL.wordLuint = 0x7FFFFFFFU;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return nanF.wordL.wordLreal;
|
||||
}
|
||||
|
||||
/* End of code generation (rtGetNaN.c) */
|
||||
@@ -1,21 +0,0 @@
|
||||
/*
|
||||
* rtGetNaN.h
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTGETNAN_H__
|
||||
#define __RTGETNAN_H__
|
||||
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
#include "rt_nonfinite.h"
|
||||
|
||||
extern real_T rtGetNaN(void);
|
||||
extern real32_T rtGetNaNF(void);
|
||||
|
||||
#endif
|
||||
/* End of code generation (rtGetNaN.h) */
|
||||
@@ -1,87 +0,0 @@
|
||||
/*
|
||||
* rt_nonfinite.c
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
/*
|
||||
* Abstract:
|
||||
* MATLAB for code generation function to initialize non-finites,
|
||||
* (Inf, NaN and -Inf).
|
||||
*/
|
||||
#include "rt_nonfinite.h"
|
||||
#include "rtGetNaN.h"
|
||||
#include "rtGetInf.h"
|
||||
|
||||
real_T rtInf;
|
||||
real_T rtMinusInf;
|
||||
real_T rtNaN;
|
||||
real32_T rtInfF;
|
||||
real32_T rtMinusInfF;
|
||||
real32_T rtNaNF;
|
||||
|
||||
/* Function: rt_InitInfAndNaN ==================================================
|
||||
* Abstract:
|
||||
* Initialize the rtInf, rtMinusInf, and rtNaN needed by the
|
||||
* generated code. NaN is initialized as non-signaling. Assumes IEEE.
|
||||
*/
|
||||
void rt_InitInfAndNaN(size_t realSize)
|
||||
{
|
||||
(void) (realSize);
|
||||
rtNaN = rtGetNaN();
|
||||
rtNaNF = rtGetNaNF();
|
||||
rtInf = rtGetInf();
|
||||
rtInfF = rtGetInfF();
|
||||
rtMinusInf = rtGetMinusInf();
|
||||
rtMinusInfF = rtGetMinusInfF();
|
||||
}
|
||||
|
||||
/* Function: rtIsInf ==================================================
|
||||
* Abstract:
|
||||
* Test if value is infinite
|
||||
*/
|
||||
boolean_T rtIsInf(real_T value)
|
||||
{
|
||||
return ((value==rtInf || value==rtMinusInf) ? 1U : 0U);
|
||||
}
|
||||
|
||||
/* Function: rtIsInfF =================================================
|
||||
* Abstract:
|
||||
* Test if single-precision value is infinite
|
||||
*/
|
||||
boolean_T rtIsInfF(real32_T value)
|
||||
{
|
||||
return(((value)==rtInfF || (value)==rtMinusInfF) ? 1U : 0U);
|
||||
}
|
||||
|
||||
/* Function: rtIsNaN ==================================================
|
||||
* Abstract:
|
||||
* Test if value is not a number
|
||||
*/
|
||||
boolean_T rtIsNaN(real_T value)
|
||||
{
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
return _isnan(value)? TRUE:FALSE;
|
||||
#else
|
||||
return (value!=value)? 1U:0U;
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Function: rtIsNaNF =================================================
|
||||
* Abstract:
|
||||
* Test if single-precision value is not a number
|
||||
*/
|
||||
boolean_T rtIsNaNF(real32_T value)
|
||||
{
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
return _isnan((real_T)value)? true:false;
|
||||
#else
|
||||
return (value!=value)? 1U:0U;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
/* End of code generation (rt_nonfinite.c) */
|
||||
@@ -1,53 +0,0 @@
|
||||
/*
|
||||
* rt_nonfinite.h
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RT_NONFINITE_H__
|
||||
#define __RT_NONFINITE_H__
|
||||
|
||||
#if defined(_MSC_VER) && (_MSC_VER <= 1200)
|
||||
#include <float.h>
|
||||
#endif
|
||||
#include <stddef.h>
|
||||
#include "rtwtypes.h"
|
||||
|
||||
extern real_T rtInf;
|
||||
extern real_T rtMinusInf;
|
||||
extern real_T rtNaN;
|
||||
extern real32_T rtInfF;
|
||||
extern real32_T rtMinusInfF;
|
||||
extern real32_T rtNaNF;
|
||||
extern void rt_InitInfAndNaN(size_t realSize);
|
||||
extern boolean_T rtIsInf(real_T value);
|
||||
extern boolean_T rtIsInfF(real32_T value);
|
||||
extern boolean_T rtIsNaN(real_T value);
|
||||
extern boolean_T rtIsNaNF(real32_T value);
|
||||
|
||||
typedef struct {
|
||||
struct {
|
||||
uint32_T wordH;
|
||||
uint32_T wordL;
|
||||
} words;
|
||||
} BigEndianIEEEDouble;
|
||||
|
||||
typedef struct {
|
||||
struct {
|
||||
uint32_T wordL;
|
||||
uint32_T wordH;
|
||||
} words;
|
||||
} LittleEndianIEEEDouble;
|
||||
|
||||
typedef struct {
|
||||
union {
|
||||
real32_T wordLreal;
|
||||
uint32_T wordLuint;
|
||||
} wordL;
|
||||
} IEEESingle;
|
||||
|
||||
#endif
|
||||
/* End of code generation (rt_nonfinite.h) */
|
||||
@@ -1,175 +0,0 @@
|
||||
/*
|
||||
* rtwtypes.h
|
||||
*
|
||||
* Code generation for function 'position_estimator'
|
||||
*
|
||||
* C source code generated on: Fri Jun 8 13:31:21 2012
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef __RTWTYPES_H__
|
||||
#define __RTWTYPES_H__
|
||||
#ifndef TRUE
|
||||
# define TRUE (1U)
|
||||
#endif
|
||||
#ifndef FALSE
|
||||
# define FALSE (0U)
|
||||
#endif
|
||||
#ifndef __TMWTYPES__
|
||||
#define __TMWTYPES__
|
||||
|
||||
#include <limits.h>
|
||||
|
||||
/*=======================================================================*
|
||||
* Target hardware information
|
||||
* Device type: Generic->MATLAB Host Computer
|
||||
* Number of bits: char: 8 short: 16 int: 32
|
||||
* long: 64 native word size: 64
|
||||
* Byte ordering: LittleEndian
|
||||
* Signed integer division rounds to: Zero
|
||||
* Shift right on a signed integer as arithmetic shift: on
|
||||
*=======================================================================*/
|
||||
|
||||
/*=======================================================================*
|
||||
* Fixed width word size data types: *
|
||||
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
* real32_T, real64_T - 32 and 64 bit floating point numbers *
|
||||
*=======================================================================*/
|
||||
|
||||
typedef signed char int8_T;
|
||||
typedef unsigned char uint8_T;
|
||||
typedef short int16_T;
|
||||
typedef unsigned short uint16_T;
|
||||
typedef int int32_T;
|
||||
typedef unsigned int uint32_T;
|
||||
typedef long int64_T;
|
||||
typedef unsigned long uint64_T;
|
||||
typedef float real32_T;
|
||||
typedef double real64_T;
|
||||
|
||||
/*===========================================================================*
|
||||
* Generic type definitions: real_T, time_T, boolean_T, int_T, uint_T, *
|
||||
* ulong_T, char_T and byte_T. *
|
||||
*===========================================================================*/
|
||||
|
||||
typedef double real_T;
|
||||
typedef double time_T;
|
||||
typedef unsigned char boolean_T;
|
||||
typedef int int_T;
|
||||
typedef unsigned uint_T;
|
||||
typedef unsigned long ulong_T;
|
||||
typedef char char_T;
|
||||
typedef char_T byte_T;
|
||||
|
||||
/*===========================================================================*
|
||||
* Complex number type definitions *
|
||||
*===========================================================================*/
|
||||
#define CREAL_T
|
||||
typedef struct {
|
||||
real32_T re;
|
||||
real32_T im;
|
||||
} creal32_T;
|
||||
|
||||
typedef struct {
|
||||
real64_T re;
|
||||
real64_T im;
|
||||
} creal64_T;
|
||||
|
||||
typedef struct {
|
||||
real_T re;
|
||||
real_T im;
|
||||
} creal_T;
|
||||
|
||||
typedef struct {
|
||||
int8_T re;
|
||||
int8_T im;
|
||||
} cint8_T;
|
||||
|
||||
typedef struct {
|
||||
uint8_T re;
|
||||
uint8_T im;
|
||||
} cuint8_T;
|
||||
|
||||
typedef struct {
|
||||
int16_T re;
|
||||
int16_T im;
|
||||
} cint16_T;
|
||||
|
||||
typedef struct {
|
||||
uint16_T re;
|
||||
uint16_T im;
|
||||
} cuint16_T;
|
||||
|
||||
typedef struct {
|
||||
int32_T re;
|
||||
int32_T im;
|
||||
} cint32_T;
|
||||
|
||||
typedef struct {
|
||||
uint32_T re;
|
||||
uint32_T im;
|
||||
} cuint32_T;
|
||||
|
||||
typedef struct {
|
||||
int64_T re;
|
||||
int64_T im;
|
||||
} cint64_T;
|
||||
|
||||
typedef struct {
|
||||
uint64_T re;
|
||||
uint64_T im;
|
||||
} cuint64_T;
|
||||
|
||||
|
||||
/*=======================================================================*
|
||||
* Min and Max: *
|
||||
* int8_T, int16_T, int32_T - signed 8, 16, or 32 bit integers *
|
||||
* uint8_T, uint16_T, uint32_T - unsigned 8, 16, or 32 bit integers *
|
||||
*=======================================================================*/
|
||||
|
||||
#define MAX_int8_T ((int8_T)(127))
|
||||
#define MIN_int8_T ((int8_T)(-128))
|
||||
#define MAX_uint8_T ((uint8_T)(255))
|
||||
#define MIN_uint8_T ((uint8_T)(0))
|
||||
#define MAX_int16_T ((int16_T)(32767))
|
||||
#define MIN_int16_T ((int16_T)(-32768))
|
||||
#define MAX_uint16_T ((uint16_T)(65535))
|
||||
#define MIN_uint16_T ((uint16_T)(0))
|
||||
#define MAX_int32_T ((int32_T)(2147483647))
|
||||
#define MIN_int32_T ((int32_T)(-2147483647-1))
|
||||
#define MAX_uint32_T ((uint32_T)(0xFFFFFFFFU))
|
||||
#define MIN_uint32_T ((uint32_T)(0))
|
||||
#define MAX_int64_T ((int64_T)(9223372036854775807L))
|
||||
#define MIN_int64_T ((int64_T)(-9223372036854775807L-1L))
|
||||
#define MAX_uint64_T ((uint64_T)(0xFFFFFFFFFFFFFFFFUL))
|
||||
#define MIN_uint64_T ((uint64_T)(0UL))
|
||||
|
||||
/* Logical type definitions */
|
||||
#if !defined(__cplusplus) && !defined(__true_false_are_keywords)
|
||||
# ifndef false
|
||||
# define false (0U)
|
||||
# endif
|
||||
# ifndef true
|
||||
# define true (1U)
|
||||
# endif
|
||||
#endif
|
||||
|
||||
/*
|
||||
* MATLAB for code generation assumes the code is compiled on a target using a 2's compliment representation
|
||||
* for signed integer values.
|
||||
*/
|
||||
#if ((SCHAR_MIN + 1) != -SCHAR_MAX)
|
||||
#error "This code must be compiled using a 2's complement representation for signed integer values"
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Maximum length of a MATLAB identifier (function/variable)
|
||||
* including the null-termination character. Referenced by
|
||||
* rt_logging.c and rt_matrx.c.
|
||||
*/
|
||||
#define TMW_NAME_LENGTH_MAX 64
|
||||
|
||||
#endif
|
||||
#endif
|
||||
/* End of code generation (rtwtypes.h) */
|
||||
@@ -1,62 +0,0 @@
|
||||
function [xapo1,Papo1] = position_estimator(u,z,xapo,Papo,gps_covariance,predict_only) %if predit_onli == 1: no update step: use this when no new gps data is available
|
||||
%#codegen
|
||||
%%initialization
|
||||
%use model F=m*a x''=F/m
|
||||
% 250Hz---> dT = 0.004s
|
||||
%u=[phi;theta]
|
||||
%x=[px;vx;py;vy];
|
||||
%%------------------------------------------
|
||||
dT=0.004;
|
||||
%%------------------------------------------------
|
||||
|
||||
%R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1];
|
||||
|
||||
|
||||
F=[ 1, 0.004, 0, 0, 0, 0;
|
||||
0, 1, 0, 0, 0, 0;
|
||||
0, 0, 1, 0.004, 0, 0;
|
||||
0, 0, 0, 1, 0, 0;
|
||||
0, 0, 0, 0, 1, 0.004;
|
||||
0, 0, 0, 0, 0, 1];
|
||||
|
||||
B=[ 0, -0.1744;
|
||||
0, -87.2;
|
||||
0.1744, 0;
|
||||
87.2, 0;
|
||||
0, 0;
|
||||
0, 0];
|
||||
|
||||
H=[1,0,0,0,0,0;
|
||||
0,0,1,0,0,0;
|
||||
0,0,0,0,1,0];
|
||||
|
||||
|
||||
|
||||
Q=[1e-007 ,0 ,0 ,0 ,0 ,0;
|
||||
0 ,1 ,0 ,0 ,0 ,0;
|
||||
0 ,0 ,1e-007 ,0 ,0 ,0;
|
||||
0 ,0 ,0 ,1 ,0 ,0
|
||||
0 ,0 ,0 ,0 ,1e-007 ,0;
|
||||
0 ,0 ,0 ,0 ,0 ,1]; %process Covariance Matrix
|
||||
|
||||
|
||||
R=[gps_covariance(1), 0, 0;
|
||||
0, gps_covariance(2), 0;
|
||||
0, 0, gps_covariance(3)]; %measurement Covariance Matrix
|
||||
|
||||
%%prediction
|
||||
|
||||
xapri=F*xapo+B*u;
|
||||
Papri=F*Papo*F'+Q;
|
||||
|
||||
if 1 ~= predict_only
|
||||
%update
|
||||
yr=z-H*xapri;
|
||||
S=H*Papri*H'+R;
|
||||
K=(Papri*H')/S;
|
||||
xapo1=xapri+K*yr;
|
||||
Papo1=(eye(6)-K*H)*Papri;
|
||||
else
|
||||
Papo1=Papri;
|
||||
xapo1=xapri;
|
||||
end
|
||||
@@ -1,269 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<deployment-project>
|
||||
<configuration target="target.matlab.ecoder" target-name="MATLAB Embedded Coder Target" name="position_estimator" location="/home/thomasgubler/src/px4_nxbuilder/px4fmu/apps/position_estimator" file="/home/thomasgubler/src/px4_nxbuilder/px4fmu/apps/position_estimator/position_estimator.prj" build-checksum="2425236060">
|
||||
<param.mex.general.TargetLang>option.general.TargetLang.C</param.mex.general.TargetLang>
|
||||
<param.mex.general.IntegrityChecks>true</param.mex.general.IntegrityChecks>
|
||||
<param.mex.general.ResponsivenessChecks>true</param.mex.general.ResponsivenessChecks>
|
||||
<param.mex.general.EnableBLAS>false</param.mex.general.EnableBLAS>
|
||||
<param.mex.general.ExtrinsicCalls>true</param.mex.general.ExtrinsicCalls>
|
||||
<param.mex.general.EchoExpressions>true</param.mex.general.EchoExpressions>
|
||||
<param.mex.general.EnableDebugging>true</param.mex.general.EnableDebugging>
|
||||
<param.mex.general.SaturateOnIntegerOverflow>true</param.mex.general.SaturateOnIntegerOverflow>
|
||||
<param.mex.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.mex.general.FilePartitionMethod>
|
||||
<param.mex.general.GlobalDataSyncMethod>option.general.GlobalDataSyncMethod.SyncAlways</param.mex.general.GlobalDataSyncMethod>
|
||||
<param.mex.general.EnableVariableSizing>true</param.mex.general.EnableVariableSizing>
|
||||
<param.mex.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.mex.general.DynamicMemoryAllocation>
|
||||
<param.mex.paths.working>option.paths.working.project</param.mex.paths.working>
|
||||
<param.mex.paths.working.specified />
|
||||
<param.mex.paths.build>option.paths.build.project</param.mex.paths.build>
|
||||
<param.mex.paths.build.specified />
|
||||
<param.mex.paths.search />
|
||||
<param.mex.report.GenerateReport>true</param.mex.report.GenerateReport>
|
||||
<param.mex.report.LaunchReport>false</param.mex.report.LaunchReport>
|
||||
<param.mex.comments.GenerateComments>true</param.mex.comments.GenerateComments>
|
||||
<param.mex.comments.MATLABSourceComments>true</param.mex.comments.MATLABSourceComments>
|
||||
<param.mex.symbols.ReservedNameArray />
|
||||
<param.mex.customcode.CustomSourceCode />
|
||||
<param.mex.customcode.CustomHeaderCode />
|
||||
<param.mex.customcode.CustomInitializer />
|
||||
<param.mex.customcode.CustomTerminator />
|
||||
<param.mex.customcode.CustomInclude />
|
||||
<param.mex.customcode.CustomSource />
|
||||
<param.mex.customcode.CustomLibrary />
|
||||
<param.mex.PostCodeGenCommand />
|
||||
<param.mex.EnableMemcpy>true</param.mex.EnableMemcpy>
|
||||
<param.mex.MemcpyThreshold>64</param.mex.MemcpyThreshold>
|
||||
<param.mex.InitFltsAndDblsToZero>true</param.mex.InitFltsAndDblsToZero>
|
||||
<param.mex.InlineThreshold>10</param.mex.InlineThreshold>
|
||||
<param.mex.InlineThresholdMax>200</param.mex.InlineThresholdMax>
|
||||
<param.mex.InlineStackLimit>4000</param.mex.InlineStackLimit>
|
||||
<param.mex.StackUsageMax>200000</param.mex.StackUsageMax>
|
||||
<param.mex.ConstantFoldingTimeout>10000</param.mex.ConstantFoldingTimeout>
|
||||
<param.grt.general.TargetLang>option.general.TargetLang.C</param.grt.general.TargetLang>
|
||||
<param.general.target.description>MATLAB Embedded Coder Target</param.general.target.description>
|
||||
<param.grt.CCompilerOptimization>option.CCompilerOptimization.Off</param.grt.CCompilerOptimization>
|
||||
<param.grt.CCompilerCustomOptimizations />
|
||||
<param.grt.general.GenerateMakefile>false</param.grt.general.GenerateMakefile>
|
||||
<param.grt.general.MakeCommand>make_rtw</param.grt.general.MakeCommand>
|
||||
<param.grt.general.TemplateMakefile>default_tmf</param.grt.general.TemplateMakefile>
|
||||
<param.grt.general.SaturateOnIntegerOverflow>true</param.grt.general.SaturateOnIntegerOverflow>
|
||||
<param.grt.general.FilePartitionMethod>option.general.FilePartitionMethod.MapMFileToCFile</param.grt.general.FilePartitionMethod>
|
||||
<param.grt.general.EnableVariableSizing>true</param.grt.general.EnableVariableSizing>
|
||||
<param.grt.general.DynamicMemoryAllocation>option.general.DynamicMemoryAllocation.Disabled</param.grt.general.DynamicMemoryAllocation>
|
||||
<param.grt.paths.working>option.paths.working.project</param.grt.paths.working>
|
||||
<param.grt.paths.working.specified />
|
||||
<param.grt.paths.build>option.paths.build.specified</param.grt.paths.build>
|
||||
<param.grt.paths.build.specified>./codegen</param.grt.paths.build.specified>
|
||||
<param.grt.paths.search />
|
||||
<param.grt.report.GenerateReport>false</param.grt.report.GenerateReport>
|
||||
<param.grt.report.LaunchReport>false</param.grt.report.LaunchReport>
|
||||
<param.grt.GenerateComments>true</param.grt.GenerateComments>
|
||||
<param.grt.MATLABSourceComments>false</param.grt.MATLABSourceComments>
|
||||
<param.ert.MATLABFcnDesc>false</param.ert.MATLABFcnDesc>
|
||||
<param.ert.CustomSymbolStrGlobalVar>$M$N</param.ert.CustomSymbolStrGlobalVar>
|
||||
<param.ert.CustomSymbolStrType>$M$N</param.ert.CustomSymbolStrType>
|
||||
<param.ert.CustomSymbolStrField>$M$N</param.ert.CustomSymbolStrField>
|
||||
<param.ert.CustomSymbolStrFcn>$M$N</param.ert.CustomSymbolStrFcn>
|
||||
<param.ert.CustomSymbolStrTmpVar>$M$N</param.ert.CustomSymbolStrTmpVar>
|
||||
<param.ert.CustomSymbolStrMacro>$M$N</param.ert.CustomSymbolStrMacro>
|
||||
<param.ert.CustomSymbolStrEMXArray>emxArray_$M$N</param.ert.CustomSymbolStrEMXArray>
|
||||
<param.grt.MaxIdLength>32</param.grt.MaxIdLength>
|
||||
<param.grt.ReservedNameArray />
|
||||
<param.grt.customcode.CustomSourceCode />
|
||||
<param.grt.customcode.CustomHeaderCode />
|
||||
<param.grt.customcode.CustomInitializer />
|
||||
<param.grt.customcode.CustomTerminator />
|
||||
<param.grt.customcode.CustomInclude />
|
||||
<param.grt.customcode.CustomSource />
|
||||
<param.grt.customcode.CustomLibrary />
|
||||
<param.grt.PostCodeGenCommand />
|
||||
<param.grt.Verbose>false</param.grt.Verbose>
|
||||
<param.grt.TargetFunctionLibrary>C89/C90 (ANSI)</param.grt.TargetFunctionLibrary>
|
||||
<param.grt.SupportNonFinite>true</param.grt.SupportNonFinite>
|
||||
<param.ert.TargetFunctionLibrary>C89/C90 (ANSI)</param.ert.TargetFunctionLibrary>
|
||||
<param.ert.PurelyIntegerCode>false</param.ert.PurelyIntegerCode>
|
||||
<param.ert.SupportNonFinite>true</param.ert.SupportNonFinite>
|
||||
<param.ert.IncludeTerminateFcn>true</param.ert.IncludeTerminateFcn>
|
||||
<param.ert.MultiInstanceCode>false</param.ert.MultiInstanceCode>
|
||||
<param.ert.ParenthesesLevel>option.ParenthesesLevel.Nominal</param.ert.ParenthesesLevel>
|
||||
<param.ert.ConvertIfToSwitch>false</param.ert.ConvertIfToSwitch>
|
||||
<param.ert.PreserveExternInFcnDecls>true</param.ert.PreserveExternInFcnDecls>
|
||||
<param.grt.EnableMemcpy>true</param.grt.EnableMemcpy>
|
||||
<param.grt.MemcpyThreshold>64</param.grt.MemcpyThreshold>
|
||||
<param.grt.InitFltsAndDblsToZero>true</param.grt.InitFltsAndDblsToZero>
|
||||
<param.grt.InlineThreshold>10</param.grt.InlineThreshold>
|
||||
<param.grt.InlineThresholdMax>200</param.grt.InlineThresholdMax>
|
||||
<param.grt.InlineStackLimit>4000</param.grt.InlineStackLimit>
|
||||
<param.grt.StackUsageMax>200000</param.grt.StackUsageMax>
|
||||
<param.grt.ConstantFoldingTimeout>10000</param.grt.ConstantFoldingTimeout>
|
||||
<param.UseECoderFeatures>true</param.UseECoderFeatures>
|
||||
<param.mex.outputfile>position_estimator_mex</param.mex.outputfile>
|
||||
<param.grt.outputfile>position_estimator</param.grt.outputfile>
|
||||
<param.artifact>option.target.artifact.lib</param.artifact>
|
||||
<param.mex.GenCodeOnly>true</param.mex.GenCodeOnly>
|
||||
<param.grt.GenCodeOnly>true</param.grt.GenCodeOnly>
|
||||
<param.version>R2011a</param.version>
|
||||
<param.HasECoderFeatures>true</param.HasECoderFeatures>
|
||||
<param.mex.mainhtml>/home/thomasgubler/Dropbox/Semester Project Autonomous Landing PX4/position_estimator/codegen/mex/position_estimator/html/index.html</param.mex.mainhtml>
|
||||
<param.grt.mainhtml />
|
||||
<unset>
|
||||
<param.mex.general.TargetLang />
|
||||
<param.mex.general.IntegrityChecks />
|
||||
<param.mex.general.ResponsivenessChecks />
|
||||
<param.mex.general.ExtrinsicCalls />
|
||||
<param.mex.general.EchoExpressions />
|
||||
<param.mex.general.EnableDebugging />
|
||||
<param.mex.general.SaturateOnIntegerOverflow />
|
||||
<param.mex.general.FilePartitionMethod />
|
||||
<param.mex.general.GlobalDataSyncMethod />
|
||||
<param.mex.general.EnableVariableSizing />
|
||||
<param.mex.general.DynamicMemoryAllocation />
|
||||
<param.mex.paths.working />
|
||||
<param.mex.paths.working.specified />
|
||||
<param.mex.paths.build />
|
||||
<param.mex.paths.build.specified />
|
||||
<param.mex.paths.search />
|
||||
<param.mex.report.GenerateReport />
|
||||
<param.mex.report.LaunchReport />
|
||||
<param.mex.comments.GenerateComments />
|
||||
<param.mex.comments.MATLABSourceComments />
|
||||
<param.mex.symbols.ReservedNameArray />
|
||||
<param.mex.customcode.CustomInclude />
|
||||
<param.mex.customcode.CustomSource />
|
||||
<param.mex.customcode.CustomLibrary />
|
||||
<param.mex.PostCodeGenCommand />
|
||||
<param.mex.EnableMemcpy />
|
||||
<param.mex.MemcpyThreshold />
|
||||
<param.mex.InitFltsAndDblsToZero />
|
||||
<param.mex.InlineThreshold />
|
||||
<param.mex.InlineThresholdMax />
|
||||
<param.mex.InlineStackLimit />
|
||||
<param.mex.StackUsageMax />
|
||||
<param.mex.ConstantFoldingTimeout />
|
||||
<param.grt.general.TargetLang />
|
||||
<param.grt.CCompilerOptimization />
|
||||
<param.grt.CCompilerCustomOptimizations />
|
||||
<param.grt.general.MakeCommand />
|
||||
<param.grt.general.TemplateMakefile />
|
||||
<param.grt.general.SaturateOnIntegerOverflow />
|
||||
<param.grt.general.FilePartitionMethod />
|
||||
<param.grt.general.EnableVariableSizing />
|
||||
<param.grt.general.DynamicMemoryAllocation />
|
||||
<param.grt.paths.working />
|
||||
<param.grt.paths.working.specified />
|
||||
<param.grt.paths.search />
|
||||
<param.grt.report.LaunchReport />
|
||||
<param.grt.GenerateComments />
|
||||
<param.grt.MATLABSourceComments />
|
||||
<param.ert.MATLABFcnDesc />
|
||||
<param.ert.CustomSymbolStrGlobalVar />
|
||||
<param.ert.CustomSymbolStrType />
|
||||
<param.ert.CustomSymbolStrField />
|
||||
<param.ert.CustomSymbolStrFcn />
|
||||
<param.ert.CustomSymbolStrTmpVar />
|
||||
<param.ert.CustomSymbolStrMacro />
|
||||
<param.ert.CustomSymbolStrEMXArray />
|
||||
<param.grt.MaxIdLength />
|
||||
<param.grt.ReservedNameArray />
|
||||
<param.grt.customcode.CustomHeaderCode />
|
||||
<param.grt.customcode.CustomInitializer />
|
||||
<param.grt.customcode.CustomTerminator />
|
||||
<param.grt.customcode.CustomInclude />
|
||||
<param.grt.customcode.CustomSource />
|
||||
<param.grt.customcode.CustomLibrary />
|
||||
<param.grt.PostCodeGenCommand />
|
||||
<param.grt.Verbose />
|
||||
<param.grt.SupportNonFinite />
|
||||
<param.ert.PurelyIntegerCode />
|
||||
<param.ert.SupportNonFinite />
|
||||
<param.ert.IncludeTerminateFcn />
|
||||
<param.ert.MultiInstanceCode />
|
||||
<param.ert.ParenthesesLevel />
|
||||
<param.ert.ConvertIfToSwitch />
|
||||
<param.ert.PreserveExternInFcnDecls />
|
||||
<param.grt.EnableMemcpy />
|
||||
<param.grt.MemcpyThreshold />
|
||||
<param.grt.InitFltsAndDblsToZero />
|
||||
<param.grt.InlineThreshold />
|
||||
<param.grt.InlineThresholdMax />
|
||||
<param.grt.InlineStackLimit />
|
||||
<param.grt.StackUsageMax />
|
||||
<param.grt.ConstantFoldingTimeout />
|
||||
<param.UseECoderFeatures />
|
||||
<param.mex.outputfile />
|
||||
<param.grt.outputfile />
|
||||
<param.version />
|
||||
<param.HasECoderFeatures />
|
||||
</unset>
|
||||
<fileset.entrypoints>
|
||||
<file value="${PROJECT_ROOT}/position_estimator.m" custom-data-expanded="true">
|
||||
<Inputs fileName="position_estimator.m" functionName="position_estimator">
|
||||
<Input Name="u">
|
||||
<Class>single</Class>
|
||||
<Size>2 x 1</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
<Input Name="z">
|
||||
<Class>single</Class>
|
||||
<Size>3 x 1</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
<Input Name="xapo">
|
||||
<Class>single</Class>
|
||||
<Size>6 x 1</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
<Input Name="Papo">
|
||||
<Class>single</Class>
|
||||
<Size>6 x 6</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
<Input Name="gps_covariance">
|
||||
<Class>single</Class>
|
||||
<Size>3 x 1</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
<Input Name="predict_only">
|
||||
<Class>uint8</Class>
|
||||
<Size>1 x 1</Size>
|
||||
<Value />
|
||||
<InitialValue />
|
||||
<Complex>false</Complex>
|
||||
</Input>
|
||||
</Inputs>
|
||||
</file>
|
||||
</fileset.entrypoints>
|
||||
<fileset.package />
|
||||
<build-deliverables />
|
||||
<workflow />
|
||||
<matlab>
|
||||
<root>/home/thomasgubler/tools/matlab</root>
|
||||
</matlab>
|
||||
<platform>
|
||||
<unix>true</unix>
|
||||
<mac>false</mac>
|
||||
<windows>false</windows>
|
||||
<win2k>false</win2k>
|
||||
<winxp>false</winxp>
|
||||
<vista>false</vista>
|
||||
<linux>true</linux>
|
||||
<solaris>false</solaris>
|
||||
<osver>3.2.0-25-generic</osver>
|
||||
<os32>false</os32>
|
||||
<os64>true</os64>
|
||||
<arch>glnxa64</arch>
|
||||
<matlab>true</matlab>
|
||||
</platform>
|
||||
</configuration>
|
||||
</deployment-project>
|
||||
|
||||
Reference in New Issue
Block a user