Updated EKF filter, untested

1 files changed, 4 insertions, 2 deletions

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
index 7aa3d048b..8207aa5c5 100755
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Wed Jul 11 08:38:35 2012

+ * C source code generated on: Mon Sep 17 20:13:22 2012

  *

  */

 

@@ -14,6 +14,8 @@
 #include <stdio.h>

 #include <stdlib.h>

 #include <string.h>

+#include "rt_defines.h"

+#include "rt_nonfinite.h"

 

 #include "rtwtypes.h"

 #include "attitudeKalmanfilter_types.h"

@@ -27,6 +29,6 @@
 /* Variable Definitions */

 

 /* Function Declarations */

-extern void attitudeKalmanfilter(real32_T dt, const real32_T z_k[9], const real32_T x_aposteriori_k[12], const real32_T P_aposteriori_k[144], const real32_T knownConst[7], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T P_aposteriori[144]);

+extern void attitudeKalmanfilter(real32_T dt, const int8_T updVect[9], const real32_T z_k_data[9], const int32_T z_k_sizes[1], const real32_T u[4], const real32_T x_aposteriori_k[9], const real32_T P_aposteriori_k[81], const real32_T knownConst[20], real32_T eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[9], real32_T P_aposteriori[81]);

 #endif

 /* End of code generation (attitudeKalmanfilter.h) */