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EKF: Fix text errors introduced when editing optical flow fusion autocode fragment

master
Paul Riseborough 9 years ago
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f99256286b
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42a943b37e
1 changed files with 3 additions and 3 deletions
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  1. 6
      matlab/generated/Inertial Nav EKF/Optical Flow Fusion.txt

6
matlab/generated/Inertial Nav EKF/Optical Flow Fusion.txt
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@ -7,11 +7,11 @@
float SH_LOS[7]; float SH_LOS[7];
SH_LOS[0] = sq(q0) - sq(q1) - sq(q2) + sq(q3); SH_LOS[0] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
SH_LOS[1] = vn*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) - vd*(2.0f*q0*q2 - 2.0f*q1*q3) + ve*(2.0f*q0*q3 + 2.0f*q1*q2); SH_LOS[1] = vn*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) - vd*(2.0f*q0*q2 - 2.0f*q1*q3) + ve*(2.0f*q0*q3 + 2.0f*q1*q2);
SH_LOS[2] = ve*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + vd*(2.0f*q0*q1 + 2.0f*q2.0f*q3) - vn*(2.0f*q0*q3 - 2.0f*q1*q2); SH_LOS[2] = ve*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + vd*(2.0f*q0*q1 + 2.0f*q2*q3) - vn*(2.0f*q0*q3 - 2.0f*q1*q2);
SH_LOS[3] = 1.0f/(pd - ptd); SH_LOS[3] = 1.0f/(pd - ptd);
SH_LOS[4] = vd*SH_LOS[0] - ve*(2.0f*q0*q1 - 2.0f*q2.0f*q3) + vn*(2.0f*q0*q2 + 2.0f*q1*q3); SH_LOS[4] = vd*SH_LOS[0] - ve*(2.0f*q0*q1 - 2.0f*q2*q3) + vn*(2.0f*q0*q2 + 2.0f*q1*q3);
SH_LOS[5] = 2.0f*q0*q2 - 2.0f*q1*q3; SH_LOS[5] = 2.0f*q0*q2 - 2.0f*q1*q3;
SH_LOS[6] = 2.0f*q0*q1 + 2.0f*q2.0f*q3; SH_LOS[6] = 2.0f*q0*q1 + 2.0f*q2*q3;
// Calculate the observation jacobians for the LOS rate about the X body axis // Calculate the observation jacobians for the LOS rate about the X body axis
float H_LOS[24]; float H_LOS[24];

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