/* * position_estimator.c * * Code generation for function 'position_estimator' * * C source code generated on: Fri Jun 8 13:31:21 2012 * */ /* Include files */ #include "rt_nonfinite.h" #include "position_estimator.h" /* Type Definitions */ /* Named Constants */ /* Variable Declarations */ /* Variable Definitions */ /* Function Declarations */ /* Function Definitions */ 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]) { real32_T fv0[6]; real32_T fv1[6]; real32_T I[36]; real32_T xapri[6]; int32_T i; int32_T r1; static const real32_T fv2[36] = { 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.004F, 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, 0.004F, 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, 0.004F, 1.0F }; static const real32_T fv3[12] = { 0.0F, 0.0F, 0.1744F, 87.2F, 0.0F, 0.0F, -0.1744F, -87.2F, 0.0F, 0.0F, 0.0F, 0.0F }; int32_T r2; real32_T Papri[36]; real32_T maxval; static const real32_T fv4[36] = { 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F }; static const real32_T fv5[36] = { 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, 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, 0.0F, 0.0F, 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, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F }; real32_T K[18]; static const int8_T iv0[18] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0 }; real32_T fv6[9]; static const int8_T iv1[18] = { 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 1, 0 }; real32_T b_gps_covariance[9]; real32_T A[9]; real32_T B[18]; int32_T r3; real32_T a21; real32_T Y[18]; real32_T b_z[3]; int8_T b_I[36]; /* if predit_onli == 1: no update step: use this when no new gps data is available */ /* %initialization */ /* use model F=m*a x''=F/m */ /* 250Hz---> dT = 0.004s */ /* u=[phi;theta] */ /* x=[px;vx;py;vy]; */ /* %------------------------------------------ */ /* %------------------------------------------------ */ /* R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; */ /* process Covariance Matrix */ /* measurement Covariance Matrix */ /* %prediction */ for (i = 0; i < 6; i++) { fv0[i] = 0.0F; for (r1 = 0; r1 < 6; r1++) { fv0[i] += fv2[i + 6 * r1] * xapo[r1]; } fv1[i] = 0.0F; for (r1 = 0; r1 < 2; r1++) { fv1[i] += fv3[i + 6 * r1] * u[r1]; } xapri[i] = fv0[i] + fv1[i]; for (r1 = 0; r1 < 6; r1++) { I[i + 6 * r1] = 0.0F; for (r2 = 0; r2 < 6; r2++) { I[i + 6 * r1] += fv2[i + 6 * r2] * Papo[r2 + 6 * r1]; } } } for (i = 0; i < 6; i++) { for (r1 = 0; r1 < 6; r1++) { maxval = 0.0F; for (r2 = 0; r2 < 6; r2++) { maxval += I[i + 6 * r2] * fv4[r2 + 6 * r1]; } Papri[i + 6 * r1] = maxval + fv5[i + 6 * r1]; } } if (1 != predict_only) { /* update */ for (i = 0; i < 3; i++) { for (r1 = 0; r1 < 6; r1++) { K[i + 3 * r1] = 0.0F; for (r2 = 0; r2 < 6; r2++) { K[i + 3 * r1] += (real32_T)iv0[i + 3 * r2] * Papri[r2 + 6 * r1]; } } } for (i = 0; i < 3; i++) { for (r1 = 0; r1 < 3; r1++) { fv6[i + 3 * r1] = 0.0F; for (r2 = 0; r2 < 6; r2++) { fv6[i + 3 * r1] += K[r1 + 3 * r2] * (real32_T)iv1[r2 + 6 * i]; } } } b_gps_covariance[0] = gps_covariance[0]; b_gps_covariance[1] = 0.0F; b_gps_covariance[2] = 0.0F; b_gps_covariance[3] = 0.0F; b_gps_covariance[4] = gps_covariance[1]; b_gps_covariance[5] = 0.0F; b_gps_covariance[6] = 0.0F; b_gps_covariance[7] = 0.0F; b_gps_covariance[8] = gps_covariance[2]; for (i = 0; i < 3; i++) { for (r1 = 0; r1 < 3; r1++) { A[r1 + 3 * i] = fv6[r1 + 3 * i] + b_gps_covariance[r1 + 3 * i]; } for (r1 = 0; r1 < 6; r1++) { B[i + 3 * r1] = 0.0F; for (r2 = 0; r2 < 6; r2++) { B[i + 3 * r1] += Papri[r1 + 6 * r2] * (real32_T)iv1[r2 + 6 * i]; } } } r1 = 0; r2 = 1; r3 = 2; maxval = (real32_T)fabs(A[0]); a21 = (real32_T)fabs(A[1]); if (a21 > maxval) { maxval = a21; r1 = 1; r2 = 0; } if ((real32_T)fabs(A[2]) > maxval) { r1 = 2; r2 = 1; r3 = 0; } A[r2] /= A[r1]; A[r3] /= A[r1]; A[3 + r2] -= A[r2] * A[3 + r1]; A[3 + r3] -= A[r3] * A[3 + r1]; A[6 + r2] -= A[r2] * A[6 + r1]; A[6 + r3] -= A[r3] * A[6 + r1]; if ((real32_T)fabs(A[3 + r3]) > (real32_T)fabs(A[3 + r2])) { i = r2; r2 = r3; r3 = i; } A[3 + r3] /= A[3 + r2]; A[6 + r3] -= A[3 + r3] * A[6 + r2]; for (i = 0; i < 6; i++) { Y[3 * i] = B[r1 + 3 * i]; Y[1 + 3 * i] = B[r2 + 3 * i] - Y[3 * i] * A[r2]; Y[2 + 3 * i] = (B[r3 + 3 * i] - Y[3 * i] * A[r3]) - Y[1 + 3 * i] * A[3 + r3]; Y[2 + 3 * i] /= A[6 + r3]; Y[3 * i] -= Y[2 + 3 * i] * A[6 + r1]; Y[1 + 3 * i] -= Y[2 + 3 * i] * A[6 + r2]; Y[1 + 3 * i] /= A[3 + r2]; Y[3 * i] -= Y[1 + 3 * i] * A[3 + r1]; Y[3 * i] /= A[r1]; } for (i = 0; i < 3; i++) { for (r1 = 0; r1 < 6; r1++) { K[r1 + 6 * i] = Y[i + 3 * r1]; } } for (i = 0; i < 3; i++) { maxval = 0.0F; for (r1 = 0; r1 < 6; r1++) { maxval += (real32_T)iv0[i + 3 * r1] * xapri[r1]; } b_z[i] = z[i] - maxval; } for (i = 0; i < 6; i++) { maxval = 0.0F; for (r1 = 0; r1 < 3; r1++) { maxval += K[i + 6 * r1] * b_z[r1]; } xapo1[i] = xapri[i] + maxval; } for (i = 0; i < 36; i++) { b_I[i] = 0; } for (i = 0; i < 6; i++) { b_I[i + 6 * i] = 1; } for (i = 0; i < 6; i++) { for (r1 = 0; r1 < 6; r1++) { maxval = 0.0F; for (r2 = 0; r2 < 3; r2++) { maxval += K[i + 6 * r2] * (real32_T)iv0[r2 + 3 * r1]; } I[i + 6 * r1] = (real32_T)b_I[i + 6 * r1] - maxval; } } for (i = 0; i < 6; i++) { for (r1 = 0; r1 < 6; r1++) { Papo1[i + 6 * r1] = 0.0F; for (r2 = 0; r2 < 6; r2++) { Papo1[i + 6 * r1] += I[i + 6 * r2] * Papri[r2 + 6 * r1]; } } } } else { memcpy((void *)&Papo1[0], (void *)&Papri[0], 36U * sizeof(real32_T)); for (i = 0; i < 6; i++) { xapo1[i] = xapri[i]; } } } /* End of code generation (position_estimator.c) */