1 files changed, 62 insertions, 0 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/norm.c b/apps/attitude_estimator_ekf/codegen/norm.c
new file mode 100755
index 000000000..1fbde052b
--- /dev/null
+++ b/apps/attitude_estimator_ekf/codegen/norm.c
@@ -0,0 +1,62 @@
+/*
+ * norm.c
+ *
+ * Code generation for function 'norm'
+ *
+ * C source code generated on: Wed Jul 11 08:38:35 2012
+ *
+ */
+
+/* Include files */
+#include "rt_nonfinite.h"
+#include "attitudeKalmanfilter.h"
+#include "norm.h"
+
+/* Type Definitions */
+
+/* Named Constants */
+
+/* Variable Declarations */
+
+/* Variable Definitions */
+
+/* Function Declarations */
+
+/* Function Definitions */
+
+/*
+ *
+ */
+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;
+  for (k = 0; k < 3; k++) {
+    if (x[k] != 0.0F) {
+      absxk = 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;
+      }
+    }
+  }
+
+  return scale * sqrtf(y);
+}
+
+/* End of code generation (norm.c) */