diff options
Diffstat (limited to 'apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c index 885c01bf3..04f6ea267 100644 --- a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter.c @@ -50,7 +50,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) b_u1 = -1;
}
- y = (real32_T)atan2((real32_T)b_u0, (real32_T)b_u1);
+ y = (real32_T)atan2f((real32_T)b_u0, (real32_T)b_u1);
} else if (u1 == 0.0F) {
if (u0 > 0.0F) {
y = RT_PIF / 2.0F;
@@ -60,7 +60,7 @@ static real32_T rt_atan2f_snf(real32_T u0, real32_T u1) y = 0.0F;
}
} else {
- y = (real32_T)atan2(u0, u1);
+ y = (real32_T)atan2f(u0, u1);
}
return y;
@@ -776,12 +776,12 @@ void attitudeKalmanfilter(const uint8_T updateVect[3], real32_T dt, const Rot_matrix[6 + i] = z_n_b[i];
}
- /* 'attitudeKalmanfilter:193' phi=atan2(Rot_matrix(2,3),Rot_matrix(3,3)); */
- /* 'attitudeKalmanfilter:194' theta=-asin(Rot_matrix(1,3)); */
- /* 'attitudeKalmanfilter:195' psi=atan2(Rot_matrix(1,2),Rot_matrix(1,1)); */
+ /* 'attitudeKalmanfilter:193' phi=atan2f(Rot_matrix(2,3),Rot_matrix(3,3)); */
+ /* 'attitudeKalmanfilter:194' theta=-asinf(Rot_matrix(1,3)); */
+ /* 'attitudeKalmanfilter:195' psi=atan2f(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)asin(Rot_matrix[6]);
+ eulerAngles[1] = -(real32_T)asinf(Rot_matrix[6]);
eulerAngles[2] = rt_atan2f_snf(Rot_matrix[3], Rot_matrix[0]);
}
|