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-rw-r--r--apps/position_estimator/codegen/position_estimator.c261
1 files changed, 0 insertions, 261 deletions
diff --git a/apps/position_estimator/codegen/position_estimator.c b/apps/position_estimator/codegen/position_estimator.c
deleted file mode 100644
index 731ae03e3..000000000
--- a/apps/position_estimator/codegen/position_estimator.c
+++ /dev/null
@@ -1,261 +0,0 @@
-/*
- * position_estimator.c
- *
- * Code generation for function 'position_estimator'
- *
- * C source code generated on: Fri Jun 8 13:31:21 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "position_estimator.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void position_estimator(const real32_T u[2], const real32_T z[3], const real32_T
- xapo[6], const real32_T Papo[36], const real32_T gps_covariance[3], uint8_T
- predict_only, real32_T xapo1[6], real32_T Papo1[36])
-{
- real32_T fv0[6];
- real32_T fv1[6];
- real32_T I[36];
- real32_T xapri[6];
- int32_T i;
- int32_T r1;
- static const real32_T fv2[36] = { 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.004F,
- 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.004F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.004F, 1.0F };
-
- static const real32_T fv3[12] = { 0.0F, 0.0F, 0.1744F, 87.2F, 0.0F, 0.0F,
- -0.1744F, -87.2F, 0.0F, 0.0F, 0.0F, 0.0F };
-
- int32_T r2;
- real32_T Papri[36];
- real32_T maxval;
- static const real32_T fv4[36] = { 1.0F, 0.004F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0F, 0.004F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
-
- static const real32_T fv5[36] = { 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F,
- 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F, 0.0F, 0.0F,
- 0.0F, 0.0F, 1.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 0.0F, 1.0E-7F, 0.0F, 0.0F,
- 0.0F, 0.0F, 0.0F, 0.0F, 1.0F };
-
- real32_T K[18];
- static const int8_T iv0[18] = { 1, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 1, 0,
- 0, 0 };
-
- real32_T fv6[9];
- static const int8_T iv1[18] = { 1, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0,
- 1, 0 };
-
- real32_T b_gps_covariance[9];
- real32_T A[9];
- real32_T B[18];
- int32_T r3;
- real32_T a21;
- real32_T Y[18];
- real32_T b_z[3];
- int8_T b_I[36];
-
- /* if predit_onli == 1: no update step: use this when no new gps data is available */
- /* %initialization */
- /* use model F=m*a x''=F/m */
- /* 250Hz---> dT = 0.004s */
- /* u=[phi;theta] */
- /* x=[px;vx;py;vy]; */
- /* %------------------------------------------ */
- /* %------------------------------------------------ */
- /* R_t=[1,-r*dT,q*dT;r*dT,1,-p*dT;-q*dT,p*dT,1]; */
- /* process Covariance Matrix */
- /* measurement Covariance Matrix */
- /* %prediction */
- for (i = 0; i < 6; i++) {
- fv0[i] = 0.0F;
- for (r1 = 0; r1 < 6; r1++) {
- fv0[i] += fv2[i + 6 * r1] * xapo[r1];
- }
-
- fv1[i] = 0.0F;
- for (r1 = 0; r1 < 2; r1++) {
- fv1[i] += fv3[i + 6 * r1] * u[r1];
- }
-
- xapri[i] = fv0[i] + fv1[i];
- for (r1 = 0; r1 < 6; r1++) {
- I[i + 6 * r1] = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- I[i + 6 * r1] += fv2[i + 6 * r2] * Papo[r2 + 6 * r1];
- }
- }
- }
-
- for (i = 0; i < 6; i++) {
- for (r1 = 0; r1 < 6; r1++) {
- maxval = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- maxval += I[i + 6 * r2] * fv4[r2 + 6 * r1];
- }
-
- Papri[i + 6 * r1] = maxval + fv5[i + 6 * r1];
- }
- }
-
- if (1 != predict_only) {
- /* update */
- for (i = 0; i < 3; i++) {
- for (r1 = 0; r1 < 6; r1++) {
- K[i + 3 * r1] = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- K[i + 3 * r1] += (real32_T)iv0[i + 3 * r2] * Papri[r2 + 6 * r1];
- }
- }
- }
-
- for (i = 0; i < 3; i++) {
- for (r1 = 0; r1 < 3; r1++) {
- fv6[i + 3 * r1] = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- fv6[i + 3 * r1] += K[r1 + 3 * r2] * (real32_T)iv1[r2 + 6 * i];
- }
- }
- }
-
- b_gps_covariance[0] = gps_covariance[0];
- b_gps_covariance[1] = 0.0F;
- b_gps_covariance[2] = 0.0F;
- b_gps_covariance[3] = 0.0F;
- b_gps_covariance[4] = gps_covariance[1];
- b_gps_covariance[5] = 0.0F;
- b_gps_covariance[6] = 0.0F;
- b_gps_covariance[7] = 0.0F;
- b_gps_covariance[8] = gps_covariance[2];
- for (i = 0; i < 3; i++) {
- for (r1 = 0; r1 < 3; r1++) {
- A[r1 + 3 * i] = fv6[r1 + 3 * i] + b_gps_covariance[r1 + 3 * i];
- }
-
- for (r1 = 0; r1 < 6; r1++) {
- B[i + 3 * r1] = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- B[i + 3 * r1] += Papri[r1 + 6 * r2] * (real32_T)iv1[r2 + 6 * i];
- }
- }
- }
-
- r1 = 0;
- r2 = 1;
- r3 = 2;
- maxval = (real32_T)fabs(A[0]);
- a21 = (real32_T)fabs(A[1]);
- if (a21 > maxval) {
- maxval = a21;
- r1 = 1;
- r2 = 0;
- }
-
- if ((real32_T)fabs(A[2]) > maxval) {
- r1 = 2;
- r2 = 1;
- r3 = 0;
- }
-
- A[r2] /= A[r1];
- A[r3] /= A[r1];
- A[3 + r2] -= A[r2] * A[3 + r1];
- A[3 + r3] -= A[r3] * A[3 + r1];
- A[6 + r2] -= A[r2] * A[6 + r1];
- A[6 + r3] -= A[r3] * A[6 + r1];
- if ((real32_T)fabs(A[3 + r3]) > (real32_T)fabs(A[3 + r2])) {
- i = r2;
- r2 = r3;
- r3 = i;
- }
-
- A[3 + r3] /= A[3 + r2];
- A[6 + r3] -= A[3 + r3] * A[6 + r2];
- for (i = 0; i < 6; i++) {
- Y[3 * i] = B[r1 + 3 * i];
- Y[1 + 3 * i] = B[r2 + 3 * i] - Y[3 * i] * A[r2];
- Y[2 + 3 * i] = (B[r3 + 3 * i] - Y[3 * i] * A[r3]) - Y[1 + 3 * i] * A[3 +
- r3];
- Y[2 + 3 * i] /= A[6 + r3];
- Y[3 * i] -= Y[2 + 3 * i] * A[6 + r1];
- Y[1 + 3 * i] -= Y[2 + 3 * i] * A[6 + r2];
- Y[1 + 3 * i] /= A[3 + r2];
- Y[3 * i] -= Y[1 + 3 * i] * A[3 + r1];
- Y[3 * i] /= A[r1];
- }
-
- for (i = 0; i < 3; i++) {
- for (r1 = 0; r1 < 6; r1++) {
- K[r1 + 6 * i] = Y[i + 3 * r1];
- }
- }
-
- for (i = 0; i < 3; i++) {
- maxval = 0.0F;
- for (r1 = 0; r1 < 6; r1++) {
- maxval += (real32_T)iv0[i + 3 * r1] * xapri[r1];
- }
-
- b_z[i] = z[i] - maxval;
- }
-
- for (i = 0; i < 6; i++) {
- maxval = 0.0F;
- for (r1 = 0; r1 < 3; r1++) {
- maxval += K[i + 6 * r1] * b_z[r1];
- }
-
- xapo1[i] = xapri[i] + maxval;
- }
-
- for (i = 0; i < 36; i++) {
- b_I[i] = 0;
- }
-
- for (i = 0; i < 6; i++) {
- b_I[i + 6 * i] = 1;
- }
-
- for (i = 0; i < 6; i++) {
- for (r1 = 0; r1 < 6; r1++) {
- maxval = 0.0F;
- for (r2 = 0; r2 < 3; r2++) {
- maxval += K[i + 6 * r2] * (real32_T)iv0[r2 + 3 * r1];
- }
-
- I[i + 6 * r1] = (real32_T)b_I[i + 6 * r1] - maxval;
- }
- }
-
- for (i = 0; i < 6; i++) {
- for (r1 = 0; r1 < 6; r1++) {
- Papo1[i + 6 * r1] = 0.0F;
- for (r2 = 0; r2 < 6; r2++) {
- Papo1[i + 6 * r1] += I[i + 6 * r2] * Papri[r2 + 6 * r1];
- }
- }
- }
- } else {
- memcpy((void *)&Papo1[0], (void *)&Papri[0], 36U * sizeof(real32_T));
- for (i = 0; i < 6; i++) {
- xapo1[i] = xapri[i];
- }
- }
-}
-
-/* End of code generation (position_estimator.c) */
generated by cgit v1.2.3 (git 2.39.1) at 2024-08-03 23:07:59 +0000