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/*
* 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) */
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