1 files changed, 0 insertions, 136 deletions
diff --git a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c b/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
deleted file mode 100755
index 5139848bc..000000000
--- a/src/modules/position_estimator_mc/codegen/positionKalmanFilter1D.c
+++ /dev/null
@@ -1,136 +0,0 @@
-/*
- * positionKalmanFilter1D.c
- *
- * Code generation for function 'positionKalmanFilter1D'
- *
- * C source code generated on: Fri Nov 30 14:26:11 2012
- *
- */
-
-/* Include files */
-#include "rt_nonfinite.h"
-#include "positionKalmanFilter1D.h"
-
-/* Type Definitions */
-
-/* Named Constants */
-
-/* Variable Declarations */
-
-/* Variable Definitions */
-
-/* Function Declarations */
-
-/* Function Definitions */
-void positionKalmanFilter1D(const real32_T A[9], const real32_T B[3], const
-  real32_T C[3], const real32_T x_aposteriori_k[3], const real32_T
-  P_aposteriori_k[9], real32_T u, real32_T z, uint8_T gps_update, const real32_T
-  Q[9], real32_T R, real32_T thresh, real32_T decay, real32_T x_aposteriori[3],
-  real32_T P_aposteriori[9])
-{
-  int32_T i0;
-  real32_T f0;
-  int32_T k;
-  real32_T b_A[9];
-  int32_T i1;
-  real32_T P_apriori[9];
-  real32_T y;
-  real32_T K[3];
-  real32_T S;
-  int8_T I[9];
-
-  /* prediction */
-  for (i0 = 0; i0 < 3; i0++) {
-    f0 = 0.0F;
-    for (k = 0; k < 3; k++) {
-      f0 += A[i0 + 3 * k] * x_aposteriori_k[k];
-    }
-
-    x_aposteriori[i0] = f0 + B[i0] * u;
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      b_A[i0 + 3 * k] = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        b_A[i0 + 3 * k] += A[i0 + 3 * i1] * P_aposteriori_k[i1 + 3 * k];
-      }
-    }
-  }
-
-  for (i0 = 0; i0 < 3; i0++) {
-    for (k = 0; k < 3; k++) {
-      f0 = 0.0F;
-      for (i1 = 0; i1 < 3; i1++) {
-        f0 += b_A[i0 + 3 * i1] * A[k + 3 * i1];
-      }
-
-      P_apriori[i0 + 3 * k] = f0 + Q[i0 + 3 * k];
-    }
-  }
-
-  if ((real32_T)fabs(u) < thresh) {
-    x_aposteriori[1] *= decay;
-  }
-
-  /* update */
-  if (gps_update == 1) {
-    y = 0.0F;
-    for (k = 0; k < 3; k++) {
-      y += C[k] * x_aposteriori[k];
-      K[k] = 0.0F;
-      for (i0 = 0; i0 < 3; i0++) {
-        K[k] += C[i0] * P_apriori[i0 + 3 * k];
-      }
-    }
-
-    y = z - y;
-    S = 0.0F;
-    for (k = 0; k < 3; k++) {
-      S += K[k] * C[k];
-    }
-
-    S += R;
-    for (i0 = 0; i0 < 3; i0++) {
-      f0 = 0.0F;
-      for (k = 0; k < 3; k++) {
-        f0 += P_apriori[i0 + 3 * k] * C[k];
-      }
-
-      K[i0] = f0 / S;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      x_aposteriori[i0] += K[i0] * y;
-    }
-
-    for (i0 = 0; i0 < 9; i0++) {
-      I[i0] = 0;
-    }
-
-    for (k = 0; k < 3; k++) {
-      I[k + 3 * k] = 1;
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        b_A[k + 3 * i0] = (real32_T)I[k + 3 * i0] - K[k] * C[i0];
-      }
-    }
-
-    for (i0 = 0; i0 < 3; i0++) {
-      for (k = 0; k < 3; k++) {
-        P_aposteriori[i0 + 3 * k] = 0.0F;
-        for (i1 = 0; i1 < 3; i1++) {
-          P_aposteriori[i0 + 3 * k] += b_A[i0 + 3 * i1] * P_apriori[i1 + 3 * k];
-        }
-      }
-    }
-  } else {
-    for (i0 = 0; i0 < 9; i0++) {
-      P_aposteriori[i0] = P_apriori[i0];
-    }
-  }
-}
-
-/* End of code generation (positionKalmanFilter1D.c) */