Controller and estimator updates

34 files changed, 249 insertions, 120 deletions

diff --git a/apps/attitude_estimator_ekf/Makefile b/apps/attitude_estimator_ekf/Makefile
index d6ec98f0b..4d531867c 100755..100644
--- a/apps/attitude_estimator_ekf/Makefile
+++ b/apps/attitude_estimator_ekf/Makefile
@@ -48,6 +48,7 @@ CSRCS		 = attitude_estimator_ekf_main.c \
 		   codegen/rtGetNaN.c \
 		   codegen/norm.c \
 		   codegen/diag.c \
+		   codegen/power.c \
 		   codegen/cross.c 
 
 
diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m b/apps/attitude_estimator_ekf/attitudeKalmanfilter.m
index 5fb4aa94f..5fb4aa94f 100755..100644
--- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.m
+++ b/apps/attitude_estimator_ekf/attitudeKalmanfilter.m
diff --git a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj b/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
index 431ddb71e..431ddb71e 100755..100644
--- a/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
+++ b/apps/attitude_estimator_ekf/attitudeKalmanfilter.prj
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
index f20d1b204..f20d1b204 100755..100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 6a63f9767..6a63f9767 100755..100644
--- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
index 26a696af2..885c01bf3 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 17:51:09 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

@@ -16,6 +16,7 @@
 #include "eye.h"

 #include "mrdivide.h"

 #include "diag.h"

+#include "power.h"

 

 /* Type Definitions */

 

@@ -74,11 +75,14 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   eulerAngles[3], real32_T Rot_matrix[9], real32_T x_aposteriori[12], real32_T

   P_aposteriori[144])

 {

+  real32_T a[12];

+  real32_T b_a[12];

+  int32_T i;

+  real32_T Q[144];

   real32_T O[9];

   real_T dv0[9];

-  real32_T a[9];

-  int32_T i;

-  real32_T b_a[9];

+  real32_T c_a[9];

+  real32_T d_a[9];

   real32_T x_n_b[3];

   real32_T b_x_aposteriori_k[3];

   real32_T m_n_b[3];

@@ -91,69 +95,55 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   int32_T i1;

   real32_T P_apriori[144];

   real32_T f0;

-  static const real32_T fv0[144] = { 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-10F, 0.0F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.1F, 0.0F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.1F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F, 0.0F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.0F, 0.0F, 0.1F,

-    0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0001F, 0.0001F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.1F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,

-    0.1F };

-

   real32_T R[81];

   real32_T b_P_apriori[108];

-  static const int8_T iv0[108] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,

-    0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

+  static const int8_T iv0[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };

 

   real32_T K_k[108];

   static const int8_T iv1[108] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0,

-    0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,

+    0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0,

     0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1 };

 

-  real32_T fv1[81];

+  real32_T fv0[81];

   real32_T c_P_apriori[36];

-  static const int8_T iv2[36] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

-    1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

+  static const int8_T iv2[36] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

 

-  real32_T fv2[36];

-  static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 1, 0, 0, 0, 1, 0, 0,

+  real32_T fv1[36];

+  static const int8_T iv3[36] = { 1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };

 

   real32_T S_k[36];

   real32_T d_P_apriori[72];

-  static const int8_T iv4[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

-    1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

+  static const int8_T iv4[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     1, 0, 0, 0 };

 

   real32_T b_K_k[72];

   static const int8_T iv5[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,

-    0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

     0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 0 };

 

   real32_T b_r[6];

   static const int8_T iv6[72] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,

-    0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0,

     0, 0, 0, 1 };

 

-  static const int8_T iv7[72] = { 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

-    1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

+  static const int8_T iv7[72] = { 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0,

+    0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0,

     0, 0, 0, 1 };

 

-  real32_T fv3[6];

+  real32_T fv2[6];

   real32_T b_z[6];

 

   /*  Extended Attitude Kalmanfilter */

@@ -170,19 +160,26 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   /* coder.varsize('udpIndVect', [9,1], [1,0]) */

   /* udpIndVect=find(updVect); */

   /* process and measurement noise covariance matrix */

-  /* Q = diag(q.^2*dt); */

-  /* 'attitudeKalmanfilter:29' Q=[1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:30'      0,     1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:31'      0,     0,      1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:32'      0,     0,      0,      1e-10,   0,      0,      1e-4,      1e-4,      0,      1e-4,      1e-4,      0; */

-  /* 'attitudeKalmanfilter:33'      0,     0,      0,      0,      1e-10,   0,      1e-4,      1e-4,      0,      1e-4,      1e-4,      0; */

-  /* 'attitudeKalmanfilter:34'      0,     0,      0,      0,      0,      1e-10,   0,      0,      0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:35'      0,     0,      0,      0,      0,      0,      1e-1,   0,      0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:36'      0,     0,      0,      0,      0,      0,      0,      1e-1,   0,      0,      0,      0; */

-  /* 'attitudeKalmanfilter:37'      0,     0,      0,      0,      0,      0,      0,      0,      1e-1,   0,      0,      0; */

-  /* 'attitudeKalmanfilter:38'      0,     0,      0,      0,      0,      0,      0,      0,      0,      1e-1,   0,      0; */

-  /* 'attitudeKalmanfilter:39'      0,     0,      0,      0,      0,      0,      0,      0,      0,      0,      1e-1,   0; */

-  /* 'attitudeKalmanfilter:40'      0,     0,      0,      0,      0,      0,      0,      0,      0,      0,      0,      1e-1]; */

+  /* 'attitudeKalmanfilter:27' Q = diag(q.^2*dt); */

+  power(q, a);

+  for (i = 0; i < 12; i++) {

+    b_a[i] = a[i] * dt;

+  }

+

+  diag(b_a, Q);

+

+  /*   Q=[1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0,      0,      0; */

+  /*       0,     1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0,      0; */

+  /*       0,     0,      1e-1,    0,      0,      0,      0,      0,      0,      0,      0,      0; */

+  /*       0,     0,      0,      1e-10,   0,      0,      1e-4,      1e-4,      0,      1e-4,      1e-4,      0; */

+  /*       0,     0,      0,      0,      1e-10,   0,      1e-4,      1e-4,      0,      1e-4,      1e-4,      0; */

+  /*       0,     0,      0,      0,      0,      1e-10,   0,      0,      0,      0,      0,      0; */

+  /*       0,     0,      0,      0,      0,      0,      1e-1,   0,      0,      0,      0,      0; */

+  /*       0,     0,      0,      0,      0,      0,      0,      1e-1,   0,      0,      0,      0; */

+  /*       0,     0,      0,      0,      0,      0,      0,      0,      1e-1,   0,      0,      0; */

+  /*       0,     0,      0,      0,      0,      0,      0,      0,      0,      1e-1,   0,      0; */

+  /*       0,     0,      0,      0,      0,      0,      0,      0,      0,      0,      1e-1,   0; */

+  /*       0,     0,      0,      0,      0,      0,      0,      0,      0,      0,      0,      1e-1]; */

   /* observation matrix */

   /* 'attitudeKalmanfilter:44' wx=  x_aposteriori_k(1); */

   /* 'attitudeKalmanfilter:45' wy=  x_aposteriori_k(2); */

@@ -214,13 +211,13 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   /* 'attitudeKalmanfilter:67' zek =(eye(3)+O*dt)*[zex;zey;zez]; */

   eye(dv0);

   for (i = 0; i < 9; i++) {

-    a[i] = (real32_T)dv0[i] + O[i] * dt;

+    c_a[i] = (real32_T)dv0[i] + O[i] * dt;

   }

 

   /* 'attitudeKalmanfilter:68' muk =(eye(3)+O*dt)*[mux;muy;muz]; */

   eye(dv0);

   for (i = 0; i < 9; i++) {

-    b_a[i] = (real32_T)dv0[i] + O[i] * dt;

+    d_a[i] = (real32_T)dv0[i] + O[i] * dt;

   }

 

   /* 'attitudeKalmanfilter:70' EZ=[0,zez,-zey; */

@@ -250,12 +247,12 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   for (i = 0; i < 3; i++) {

     m_n_b[i] = 0.0F;

     for (i0 = 0; i0 < 3; i0++) {

-      m_n_b[i] += a[i + 3 * i0] * x_n_b[i0];

+      m_n_b[i] += c_a[i + 3 * i0] * x_n_b[i0];

     }

 

     z_n_b[i] = 0.0F;

     for (i0 = 0; i0 < 3; i0++) {

-      z_n_b[i] += b_a[i + 3 * i0] * b_x_aposteriori_k[i0];

+      z_n_b[i] += d_a[i + 3 * i0] * b_x_aposteriori_k[i0];

     }

 

     x_apriori[i + 6] = m_n_b[i];

@@ -360,7 +357,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
         f0 += A_lin[i + 12 * i1] * b_A_lin[i0 + 12 * i1];

       }

 

-      P_apriori[i + 12 * i0] = f0 + fv0[i + 12 * i0];

+      P_apriori[i + 12 * i0] = f0 + Q[i + 12 * i0];

     }

   }

 

@@ -368,10 +365,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   /* 'attitudeKalmanfilter:102' if updateVect(1)==1&&updateVect(2)==1&&updateVect(3)==1 */

   if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 1)) {

     /* 'attitudeKalmanfilter:103' R=diag(r); */

-    diag(r, R);

+    b_diag(r, R);

 

     /* observation matrix */

-    /* 'attitudeKalmanfilter:106' H_k=[  E,     Es,      Z,    Z; */

+    /* 'attitudeKalmanfilter:106' H_k=[  E,     Z,      Z,    Z; */

     /* 'attitudeKalmanfilter:107'         Z,     Z,      E,    Z; */

     /* 'attitudeKalmanfilter:108'         Z,     Z,      Z,    E]; */

     /* 'attitudeKalmanfilter:110' y_k=z(1:9)-H_k*x_apriori; */

@@ -403,11 +400,11 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
           f0 += K_k[i + 9 * i1] * (real32_T)iv0[i1 + 12 * i0];

         }

 

-        fv1[i + 9 * i0] = f0 + R[i + 9 * i0];

+        fv0[i + 9 * i0] = f0 + R[i + 9 * i0];

       }

     }

 

-    mrdivide(b_P_apriori, fv1, K_k);

+    mrdivide(b_P_apriori, fv0, K_k);

 

     /* 'attitudeKalmanfilter:116' x_aposteriori=x_apriori+K_k*y_k; */

     for (i = 0; i < 9; i++) {

@@ -416,13 +413,13 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
         f0 += (real32_T)iv1[i + 9 * i0] * x_apriori[i0];

       }

 

-      a[i] = z[i] - f0;

+      c_a[i] = z[i] - f0;

     }

 

     for (i = 0; i < 12; i++) {

       f0 = 0.0F;

       for (i0 = 0; i0 < 9; i0++) {

-        f0 += K_k[i + 12 * i0] * a[i0];

+        f0 += K_k[i + 12 * i0] * c_a[i0];

       }

 

       x_aposteriori[i] = x_apriori[i] + f0;

@@ -437,7 +434,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
           f0 += K_k[i + 12 * i1] * (real32_T)iv1[i1 + 9 * i0];

         }

 

-        b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

+        Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

       }

     }

 

@@ -445,8 +442,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
       for (i0 = 0; i0 < 12; i0++) {

         P_aposteriori[i + 12 * i0] = 0.0F;

         for (i1 = 0; i1 < 12; i1++) {

-          P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 + 12

-            * i0];

+          P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 * i0];

         }

       }

     }

@@ -455,10 +451,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
     /* 'attitudeKalmanfilter:119' if updateVect(1)==1&&updateVect(2)==0&&updateVect(3)==0 */

     if ((updateVect[0] == 1) && (updateVect[1] == 0) && (updateVect[2] == 0)) {

       /* 'attitudeKalmanfilter:120' R=diag(r(1:3)); */

-      b_diag(*(real32_T (*)[3])&r[0], O);

+      c_diag(*(real32_T (*)[3])&r[0], O);

 

       /* observation matrix */

-      /* 'attitudeKalmanfilter:123' H_k=[  E,     Es,      Z,    Z]; */

+      /* 'attitudeKalmanfilter:123' H_k=[  E,     Z,      Z,    Z]; */

       /* 'attitudeKalmanfilter:125' y_k=z(1:3)-H_k(1:3,1:12)*x_apriori; */

       /* 'attitudeKalmanfilter:127' S_k=H_k(1:3,1:12)*P_apriori*H_k(1:3,1:12)'+R(1:3,1:3); */

       /* 'attitudeKalmanfilter:128' K_k=(P_apriori*H_k(1:3,1:12)'/(S_k)); */

@@ -474,9 +470,9 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
 

       for (i = 0; i < 3; i++) {

         for (i0 = 0; i0 < 12; i0++) {

-          fv2[i + 3 * i0] = 0.0F;

+          fv1[i + 3 * i0] = 0.0F;

           for (i1 = 0; i1 < 12; i1++) {

-            fv2[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *

+            fv1[i + 3 * i0] += (real32_T)iv3[i + 3 * i1] * P_apriori[i1 + 12 *

               i0];

           }

         }

@@ -486,14 +482,14 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
         for (i0 = 0; i0 < 3; i0++) {

           f0 = 0.0F;

           for (i1 = 0; i1 < 12; i1++) {

-            f0 += fv2[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];

+            f0 += fv1[i + 3 * i1] * (real32_T)iv2[i1 + 12 * i0];

           }

 

-          a[i + 3 * i0] = f0 + O[i + 3 * i0];

+          c_a[i + 3 * i0] = f0 + O[i + 3 * i0];

         }

       }

 

-      b_mrdivide(c_P_apriori, a, S_k);

+      b_mrdivide(c_P_apriori, c_a, S_k);

 

       /* 'attitudeKalmanfilter:131' x_aposteriori=x_apriori+K_k*y_k; */

       for (i = 0; i < 3; i++) {

@@ -523,7 +519,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
             f0 += S_k[i + 12 * i1] * (real32_T)iv3[i1 + 3 * i0];

           }

 

-          b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

+          Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

         }

       }

 

@@ -531,8 +527,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
         for (i0 = 0; i0 < 12; i0++) {

           P_aposteriori[i + 12 * i0] = 0.0F;

           for (i1 = 0; i1 < 12; i1++) {

-            P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1 +

-              12 * i0];

+            P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *

+              i0];

           }

         }

       }

@@ -542,10 +538,10 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
       if ((updateVect[0] == 1) && (updateVect[1] == 1) && (updateVect[2] == 0))

       {

         /* 'attitudeKalmanfilter:135' R=diag(r(1:6)); */

-        c_diag(*(real32_T (*)[6])&r[0], S_k);

+        d_diag(*(real32_T (*)[6])&r[0], S_k);

 

         /* observation matrix */

-        /* 'attitudeKalmanfilter:138' H_k=[  E,     Es,      Z,    Z; */

+        /* 'attitudeKalmanfilter:138' H_k=[  E,     Z,      Z,    Z; */

         /* 'attitudeKalmanfilter:139'                     Z,     Z,      E,    Z]; */

         /* 'attitudeKalmanfilter:141' y_k=z(1:6)-H_k(1:6,1:12)*x_apriori; */

         /* 'attitudeKalmanfilter:143' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */

@@ -577,11 +573,11 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
               f0 += b_K_k[i + 6 * i1] * (real32_T)iv4[i1 + 12 * i0];

             }

 

-            fv2[i + 6 * i0] = f0 + S_k[i + 6 * i0];

+            fv1[i + 6 * i0] = f0 + S_k[i + 6 * i0];

           }

         }

 

-        c_mrdivide(d_P_apriori, fv2, b_K_k);

+        c_mrdivide(d_P_apriori, fv1, b_K_k);

 

         /* 'attitudeKalmanfilter:147' x_aposteriori=x_apriori+K_k*y_k; */

         for (i = 0; i < 6; i++) {

@@ -611,7 +607,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
               f0 += b_K_k[i + 12 * i1] * (real32_T)iv5[i1 + 6 * i0];

             }

 

-            b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

+            Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

           }

         }

 

@@ -619,8 +615,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
           for (i0 = 0; i0 < 12; i0++) {

             P_aposteriori[i + 12 * i0] = 0.0F;

             for (i1 = 0; i1 < 12; i1++) {

-              P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] * P_apriori[i1

-                + 12 * i0];

+              P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12 *

+                i0];

             }

           }

         }

@@ -631,7 +627,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
         {

           /* 'attitudeKalmanfilter:151' R=diag([r(1:3);r(7:9)]); */

           /* observation matrix */

-          /* 'attitudeKalmanfilter:154' H_k=[  E,     Es,      Z,    Z; */

+          /* 'attitudeKalmanfilter:154' H_k=[  E,     Z,      Z,    Z; */

           /* 'attitudeKalmanfilter:155'                     Z,     Z,      Z,    E]; */

           /* 'attitudeKalmanfilter:157' y_k=[z(1:3);z(7:9)]-H_k(1:6,1:12)*x_apriori; */

           /* 'attitudeKalmanfilter:159' S_k=H_k(1:6,1:12)*P_apriori*H_k(1:6,1:12)'+R(1:6,1:6); */

@@ -684,12 +680,12 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
           }

 

           for (i = 0; i < 6; i++) {

-            fv3[i] = 0.0F;

+            fv2[i] = 0.0F;

             for (i0 = 0; i0 < 12; i0++) {

-              fv3[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];

+              fv2[i] += (real32_T)iv6[i + 6 * i0] * x_apriori[i0];

             }

 

-            b_z[i] = b_r[i] - fv3[i];

+            b_z[i] = b_r[i] - fv2[i];

           }

 

           for (i = 0; i < 12; i++) {

@@ -710,7 +706,7 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
                 f0 += b_K_k[i + 12 * i1] * (real32_T)iv6[i1 + 6 * i0];

               }

 

-              b_A_lin[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

+              Q[i + 12 * i0] = (real32_T)dv1[i + 12 * i0] - f0;

             }

           }

 

@@ -718,8 +714,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
             for (i0 = 0; i0 < 12; i0++) {

               P_aposteriori[i + 12 * i0] = 0.0F;

               for (i1 = 0; i1 < 12; i1++) {

-                P_aposteriori[i + 12 * i0] += b_A_lin[i + 12 * i1] *

-                  P_apriori[i1 + 12 * i0];

+                P_aposteriori[i + 12 * i0] += Q[i + 12 * i1] * P_apriori[i1 + 12

+                  * i0];

               }

             }

           }

@@ -785,7 +781,8 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const
   /* 'attitudeKalmanfilter:195' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */

   /* 'attitudeKalmanfilter:196' eulerAngles=[phi;theta;psi]; */

   eulerAngles[0] = rt_atan2f_snf(Rot_matrix[7], Rot_matrix[8]);

-  eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);

+  eulerAngles[1] = -(real32_T)asin(Rot_matrix[6]);

   eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);

 }

 

+/* End of code generation (attitudeKalmanfilter.c) */

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.h
index 9d89705a6..c93d7f4bb 100755..100644
--- 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: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
index 27eb2763e..67b6fa422 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter_initialize'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
index 277df273d..610924d75 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_initialize.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter_initialize'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
index ed0993039..c89602723 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter_terminate'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
index 0b0ccd073..a19630775 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_terminate.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter_terminate'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
index 95814863f..eba83d0d9 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
+++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_types.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/cross.c b/apps/attitude_estimator_ekf/codegen/cross.c
index d4524fed8..42cd70971 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/cross.c
+++ b/apps/attitude_estimator_ekf/codegen/cross.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'cross'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/cross.h b/apps/attitude_estimator_ekf/codegen/cross.h
index d70b0adc2..c90d6b3a5 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/cross.h
+++ b/apps/attitude_estimator_ekf/codegen/cross.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'cross'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/diag.c b/apps/attitude_estimator_ekf/codegen/diag.c
index 58e9f553f..7c28e873a 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/diag.c
+++ b/apps/attitude_estimator_ekf/codegen/diag.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'diag'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

@@ -27,7 +27,19 @@
 /*

  *

  */

-void b_diag(const real32_T v[3], real32_T d[9])

+void b_diag(const real32_T v[9], real32_T d[81])

+{

+  int32_T j;

+  memset(&d[0], 0, 81U * sizeof(real32_T));

+  for (j = 0; j < 9; j++) {

+    d[j + 9 * j] = v[j];

+  }

+}

+

+/*

+ *

+ */

+void c_diag(const real32_T v[3], real32_T d[9])

 {

   int32_T j;

   for (j = 0; j < 9; j++) {

@@ -42,7 +54,7 @@ void b_diag(const real32_T v[3], real32_T d[9])
 /*

  *

  */

-void c_diag(const real32_T v[6], real32_T d[36])

+void d_diag(const real32_T v[6], real32_T d[36])

 {

   int32_T j;

   memset(&d[0], 0, 36U * sizeof(real32_T));

@@ -54,12 +66,12 @@ void c_diag(const real32_T v[6], real32_T d[36])
 /*

  *

  */

-void diag(const real32_T v[9], real32_T d[81])

+void diag(const real32_T v[12], real32_T d[144])

 {

   int32_T j;

-  memset(&d[0], 0, 81U * sizeof(real32_T));

-  for (j = 0; j < 9; j++) {

-    d[j + 9 * j] = v[j];

+  memset(&d[0], 0, 144U * sizeof(real32_T));

+  for (j = 0; j < 12; j++) {

+    d[j + 12 * j] = v[j];

   }

 }

 

diff --git a/apps/attitude_estimator_ekf/codegen/diag.h b/apps/attitude_estimator_ekf/codegen/diag.h
index 85ff0e0e9..98b411c2d 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/diag.h
+++ b/apps/attitude_estimator_ekf/codegen/diag.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'diag'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

@@ -29,8 +29,9 @@
 /* Variable Definitions */

 

 /* Function Declarations */

-extern void b_diag(const real32_T v[3], real32_T d[9]);

-extern void c_diag(const real32_T v[6], real32_T d[36]);

-extern void diag(const real32_T v[9], real32_T d[81]);

+extern void b_diag(const real32_T v[9], real32_T d[81]);

+extern void c_diag(const real32_T v[3], real32_T d[9]);

+extern void d_diag(const real32_T v[6], real32_T d[36]);

+extern void diag(const real32_T v[12], real32_T d[144]);

 #endif

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

diff --git a/apps/attitude_estimator_ekf/codegen/eye.c b/apps/attitude_estimator_ekf/codegen/eye.c
index d7ae20afd..dbd44c6a8 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/eye.c
+++ b/apps/attitude_estimator_ekf/codegen/eye.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'eye'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/eye.h b/apps/attitude_estimator_ekf/codegen/eye.h
index 77099ec22..325fd23ec 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/eye.h
+++ b/apps/attitude_estimator_ekf/codegen/eye.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'eye'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.c b/apps/attitude_estimator_ekf/codegen/mrdivide.c
index 1c69f1ef7..0a540775a 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.c
+++ b/apps/attitude_estimator_ekf/codegen/mrdivide.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'mrdivide'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/mrdivide.h b/apps/attitude_estimator_ekf/codegen/mrdivide.h
index 75a396878..d286eda5a 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/mrdivide.h
+++ b/apps/attitude_estimator_ekf/codegen/mrdivide.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'mrdivide'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c
index fbd5d43e0..deb71dc60 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/norm.c
+++ b/apps/attitude_estimator_ekf/codegen/norm.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'norm'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/norm.h b/apps/attitude_estimator_ekf/codegen/norm.h
index a2e9d90d4..3459cbdb5 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/norm.h
+++ b/apps/attitude_estimator_ekf/codegen/norm.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'norm'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/power.c b/apps/attitude_estimator_ekf/codegen/power.c
new file mode 100644
index 000000000..fc602fb5c
--- /dev/null
+++ b/apps/attitude_estimator_ekf/codegen/power.c
@@ -0,0 +1,84 @@
+/*

+ * power.c

+ *

+ * Code generation for function 'power'

+ *

+ * C source code generated on: Tue Oct 16 15:27:58 2012

+ *

+ */

+

+/* Include files */

+#include "rt_nonfinite.h"

+#include "attitudeKalmanfilter.h"

+#include "power.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+static real32_T rt_powf_snf(real32_T u0, real32_T u1);

+

+/* Function Definitions */

+static real32_T rt_powf_snf(real32_T u0, real32_T u1)

+{

+  real32_T y;

+  real32_T f1;

+  real32_T f2;

+  if (rtIsNaNF(u0) || rtIsNaNF(u1)) {

+    y = ((real32_T)rtNaN);

+  } else {

+    f1 = (real32_T)fabs(u0);

+    f2 = (real32_T)fabs(u1);

+    if (rtIsInfF(u1)) {

+      if (f1 == 1.0F) {

+        y = ((real32_T)rtNaN);

+      } else if (f1 > 1.0F) {

+        if (u1 > 0.0F) {

+          y = ((real32_T)rtInf);

+        } else {

+          y = 0.0F;

+        }

+      } else if (u1 > 0.0F) {

+        y = 0.0F;

+      } else {

+        y = ((real32_T)rtInf);

+      }

+    } else if (f2 == 0.0F) {

+      y = 1.0F;

+    } else if (f2 == 1.0F) {

+      if (u1 > 0.0F) {

+        y = u0;

+      } else {

+        y = 1.0F / u0;

+      }

+    } else if (u1 == 2.0F) {

+      y = u0 * u0;

+    } else if ((u1 == 0.5F) && (u0 >= 0.0F)) {

+      y = (real32_T)sqrt(u0);

+    } else if ((u0 < 0.0F) && (u1 > (real32_T)floor(u1))) {

+      y = ((real32_T)rtNaN);

+    } else {

+      y = (real32_T)pow(u0, u1);

+    }

+  }

+

+  return y;

+}

+

+/*

+ *

+ */

+void power(const real32_T a[12], real32_T y[12])

+{

+  int32_T k;

+  for (k = 0; k < 12; k++) {

+    y[k] = rt_powf_snf(a[k], 2.0F);

+  }

+}

+

+/* End of code generation (power.c) */

diff --git a/apps/attitude_estimator_ekf/codegen/power.h b/apps/attitude_estimator_ekf/codegen/power.h
new file mode 100644
index 000000000..40a0d9353
--- /dev/null
+++ b/apps/attitude_estimator_ekf/codegen/power.h
@@ -0,0 +1,34 @@
+/*

+ * power.h

+ *

+ * Code generation for function 'power'

+ *

+ * C source code generated on: Tue Oct 16 15:27:58 2012

+ *

+ */

+

+#ifndef __POWER_H__

+#define __POWER_H__

+/* Include files */

+#include <math.h>

+#include <stddef.h>

+#include <stdlib.h>

+#include <string.h>

+#include "rt_defines.h"

+#include "rt_nonfinite.h"

+

+#include "rtwtypes.h"

+#include "attitudeKalmanfilter_types.h"

+

+/* Type Definitions */

+

+/* Named Constants */

+

+/* Variable Declarations */

+

+/* Variable Definitions */

+

+/* Function Declarations */

+extern void power(const real32_T a[12], real32_T y[12]);

+#endif

+/* End of code generation (power.h) */

diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.c b/apps/attitude_estimator_ekf/codegen/rdivide.c
index 32d75bf28..11e4e6f1f 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rdivide.c
+++ b/apps/attitude_estimator_ekf/codegen/rdivide.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'rdivide'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rdivide.h b/apps/attitude_estimator_ekf/codegen/rdivide.h
index e488ed87f..4e2430374 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rdivide.h
+++ b/apps/attitude_estimator_ekf/codegen/rdivide.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'rdivide'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.c b/apps/attitude_estimator_ekf/codegen/rtGetInf.c
index 5500ef373..d20fa13fc 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.c
+++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rtGetInf.h b/apps/attitude_estimator_ekf/codegen/rtGetInf.h
index bfef3881e..83a355873 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rtGetInf.h
+++ b/apps/attitude_estimator_ekf/codegen/rtGetInf.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c
index e5113aef0..d357102af 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.c
+++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h
index 28f35e1f1..415927709 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rtGetNaN.h
+++ b/apps/attitude_estimator_ekf/codegen/rtGetNaN.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rt_defines.h b/apps/attitude_estimator_ekf/codegen/rt_defines.h
index 3ce17dd0f..608391608 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rt_defines.h
+++ b/apps/attitude_estimator_ekf/codegen/rt_defines.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
index 6f58e7265..69069562b 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
+++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.c
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
index 5c2a0aa61..9686964ae 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
+++ b/apps/attitude_estimator_ekf/codegen/rt_nonfinite.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */

 

diff --git a/apps/attitude_estimator_ekf/codegen/rtwtypes.h b/apps/attitude_estimator_ekf/codegen/rtwtypes.h
index 4fbb93f57..77fd3ec7a 100755..100644
--- a/apps/attitude_estimator_ekf/codegen/rtwtypes.h
+++ b/apps/attitude_estimator_ekf/codegen/rtwtypes.h
@@ -3,7 +3,7 @@
  *

  * Code generation for function 'attitudeKalmanfilter'

  *

- * C source code generated on: Sat Oct 13 16:28:18 2012

+ * C source code generated on: Tue Oct 16 15:27:58 2012

  *

  */