mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.2 KiB
Mathematica
81 lines
2.2 KiB
Mathematica
|
function H_MAG = calcH_MAG(gPhi,gPsi,gTheta,magX,magY,magZ,q0,q1,q2,q3)
|
||
|
|
%CALCH_MAG
|
||
|
|
% H_MAG = CALCH_MAG(GPHI,GPSI,GTHETA,MAGX,MAGY,MAGZ,Q0,Q1,Q2,Q3)
|
||
|
|
|
||
|
|
% This function was generated by the Symbolic Math Toolbox version 6.1.
|
||
|
|
% 15-Feb-2015 16:00:09
|
||
|
|
|
||
|
|
t2 = cos(gPhi);
|
||
|
|
t3 = cos(gTheta);
|
||
|
|
t4 = sin(gPhi);
|
||
|
|
t5 = sin(gTheta);
|
||
|
|
t6 = q0.^2;
|
||
|
|
t7 = q1.^2;
|
||
|
|
t8 = q2.^2;
|
||
|
|
t9 = q3.^2;
|
||
|
|
t10 = t6+t7-t8-t9;
|
||
|
|
t11 = sin(gPsi);
|
||
|
|
t12 = cos(gPsi);
|
||
|
|
t13 = q0.*q2.*2.0;
|
||
|
|
t14 = q1.*q3.*2.0;
|
||
|
|
t15 = t13+t14;
|
||
|
|
t16 = q0.*q3.*2.0;
|
||
|
|
t18 = q1.*q2.*2.0;
|
||
|
|
t17 = t16-t18;
|
||
|
|
t19 = t3.*t11;
|
||
|
|
t20 = t4.*t5.*t12;
|
||
|
|
t21 = t19+t20;
|
||
|
|
t22 = t16+t18;
|
||
|
|
t23 = t5.*t11;
|
||
|
|
t41 = t3.*t4.*t12;
|
||
|
|
t24 = t23-t41;
|
||
|
|
t25 = q0.*q1.*2.0;
|
||
|
|
t31 = q2.*q3.*2.0;
|
||
|
|
t26 = t25-t31;
|
||
|
|
t27 = t6-t7+t8-t9;
|
||
|
|
t28 = t5.*t12;
|
||
|
|
t29 = t3.*t4.*t11;
|
||
|
|
t30 = t28+t29;
|
||
|
|
t32 = t3.*t12;
|
||
|
|
t46 = t4.*t5.*t11;
|
||
|
|
t33 = t32-t46;
|
||
|
|
t35 = t4.*t17;
|
||
|
|
t36 = t2.*t5.*t10;
|
||
|
|
t37 = t2.*t3.*t15;
|
||
|
|
t38 = t35+t36-t37;
|
||
|
|
t39 = magZ.*t38;
|
||
|
|
t40 = t10.*t21;
|
||
|
|
t42 = t15.*t24;
|
||
|
|
t43 = t2.*t12.*t17;
|
||
|
|
t44 = t40+t42-t43;
|
||
|
|
t45 = magY.*t44;
|
||
|
|
t47 = t10.*t33;
|
||
|
|
t48 = t15.*t30;
|
||
|
|
t49 = t2.*t11.*t17;
|
||
|
|
t50 = t47+t48+t49;
|
||
|
|
t51 = magX.*t50;
|
||
|
|
t52 = -t39+t45+t51;
|
||
|
|
t53 = 1.0./t52;
|
||
|
|
t54 = t4.*t27;
|
||
|
|
t55 = t2.*t3.*t26;
|
||
|
|
t56 = t2.*t5.*t22;
|
||
|
|
t57 = -t54+t55+t56;
|
||
|
|
t58 = magZ.*t57;
|
||
|
|
t59 = t21.*t22;
|
||
|
|
t60 = t24.*t26;
|
||
|
|
t61 = t2.*t12.*t27;
|
||
|
|
t62 = t59-t60+t61;
|
||
|
|
t63 = magY.*t62;
|
||
|
|
t64 = t26.*t30;
|
||
|
|
t65 = t22.*t33;
|
||
|
|
t66 = t2.*t11.*t27;
|
||
|
|
t67 = t64-t65+t66;
|
||
|
|
t68 = magX.*t67;
|
||
|
|
t69 = t58-t63+t68;
|
||
|
|
t70 = t53.*t69;
|
||
|
|
t34 = tan(t70);
|
||
|
|
t71 = t34.^2;
|
||
|
|
t72 = t71+1.0;
|
||
|
|
t73 = 1.0./t52.^2;
|
||
|
|
H_MAG = [-t72.*(t53.*(magZ.*(t4.*t26+t2.*t3.*t27)+magY.*(t24.*t27+t2.*t12.*t26)+magX.*(t27.*t30-t2.*t11.*t26))-t69.*t73.*(magZ.*(t4.*t15+t2.*t3.*t17)+magY.*(t17.*t24+t2.*t12.*t15)+magX.*(t17.*t30-t2.*t11.*t15))),t72.*(t53.*(magZ.*(t2.*t3.*t22-t2.*t5.*t26)+magY.*(t22.*t24+t21.*t26)+magX.*(t22.*t30+t26.*t33))+t69.*t73.*(magZ.*(t2.*t3.*t10+t2.*t5.*t15)+magY.*(t10.*t24-t15.*t21)+magX.*(t10.*t30-t15.*t33))),t72.*(t53.*(-magZ.*(t4.*t22+t2.*t5.*t27)+magY.*(t21.*t27-t2.*t12.*t22)+magX.*(t27.*t33+t2.*t11.*t22))-t69.*t73.*(magZ.*(t4.*t10-t2.*t5.*t17)+magY.*(t17.*t21+t2.*t10.*t12)+magX.*(t17.*t33-t2.*t10.*t11))),0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0];
|