1 files changed, 11 insertions, 19 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c
index 341c93022..fbd5d43e0 100755
--- 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: Mon Oct 01 19:38:49 2012
+ * C source code generated on: Sat Oct 13 16:28:18 2012
  *
  */
 
@@ -31,32 +31,24 @@ real32_T norm(const real32_T x[3])
 {
   real32_T y;
   real32_T scale;
-  boolean_T firstNonZero;
   int32_T k;
   real32_T absxk;
   real32_T t;
   y = 0.0F;
-  scale = 0.0F;
-  firstNonZero = TRUE;
+  scale = 1.17549435E-38F;
   for (k = 0; k < 3; k++) {
-    if (x[k] != 0.0F) {
-      absxk = (real32_T)fabsf(x[k]);
-      if (firstNonZero) {
-        scale = absxk;
-        y = 1.0F;
-        firstNonZero = FALSE;
-      } else if (scale < absxk) {
-        t = scale / absxk;
-        y = 1.0F + y * t * t;
-        scale = absxk;
-      } else {
-        t = absxk / scale;
-        y += t * t;
-      }
+    absxk = (real32_T)fabs(x[k]);
+    if (absxk > scale) {
+      t = scale / absxk;
+      y = 1.0F + y * t * t;
+      scale = absxk;
+    } else {
+      t = absxk / scale;
+      y += t * t;
     }
   }
 
-  return scale * (real32_T)sqrtf(y);
+  return scale * (real32_T)sqrt(y);
 }
 
 /* End of code generation (norm.c) */