This is also from the older version of the generator.
Note that as documented, some of the equations have been removed and
rearranged slightly as it is assumed their terms are zero. Additionally,
the result is taken as the sum of the diagonal entries of the matrix.
It's from the older version of the generator as well.
Update variable names in the real code to be the same as the generated
code. Skip generation of the unused alternate form of the equations.
Delete `acc_bf_generated.cpp` as we know exactly how to generate it now.
Requires digging up old versions of the generator script.
The equations have been rearranged somewhat after generation to choose
the appropriate method but they do match overall. The auto-substitution
of the power functions caused slight changes to the generated syntax so
we make those to the real code as well.
Delete `yaw_generated.cpp` as we know exactly how to generate it now.
Validated that the generated code matches exactly the code in AP_NavEKF3
(except for the early exits).
Delete `covariance_generated.cpp` as we know exactly how to generate it
now (and it was out of date anyway).
Document exactly which versions were used when generating the code.
Sympy is the most important so it is explicitly checked.
Also add an alternate generate script which uses `nix-shell` to make it
convenient to automatically use these versions.
Add a shell script to run the generate_1.py file. Foresight tells us
that we will need multiple such files.
Also ignore the generated code files as they are already out of date and
we are aiming to document provenance and make them unnecessary anyway.
Thomas Watson
Pierre Kancir
Ruffalo-sunghwan
Paul Riseborough
Andrew Tridgell
Paul Riseborough