mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.8 KiB
C
76 lines
1.8 KiB
C
t2 = cos(gPhi);
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t3 = cos(gTheta);
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t4 = sin(gPhi);
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t5 = sin(gTheta);
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t6 = q0*q0;
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t7 = q1*q1;
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t8 = q2*q2;
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t9 = q3*q3;
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t10 = t6+t7-t8-t9;
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t11 = sin(gPsi);
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t12 = cos(gPsi);
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t13 = q0*q2*2.0;
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t14 = q1*q3*2.0;
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t15 = t13+t14;
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t16 = q0*q3*2.0;
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t18 = q1*q2*2.0;
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t17 = t16-t18;
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t19 = t3*t11;
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t20 = t4*t5*t12;
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t21 = t19+t20;
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t22 = t16+t18;
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t23 = t5*t11;
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t41 = t3*t4*t12;
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t24 = t23-t41;
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t25 = q0*q1*2.0;
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t31 = q2*q3*2.0;
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t26 = t25-t31;
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t27 = t6-t7+t8-t9;
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t28 = t5*t12;
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t29 = t3*t4*t11;
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t30 = t28+t29;
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t32 = t3*t12;
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t46 = t4*t5*t11;
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t33 = t32-t46;
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t35 = t4*t17;
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t36 = t2*t5*t10;
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t37 = t2*t3*t15;
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t38 = t35+t36-t37;
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t39 = magZ*t38;
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t40 = t10*t21;
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t42 = t15*t24;
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t43 = t2*t12*t17;
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t44 = t40+t42-t43;
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t45 = magY*t44;
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t47 = t10*t33;
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t48 = t15*t30;
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t49 = t2*t11*t17;
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t50 = t47+t48+t49;
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t51 = magX*t50;
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t52 = -t39+t45+t51;
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t53 = 1.0/t52;
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t54 = t4*t27;
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t55 = t2*t3*t26;
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t56 = t2*t5*t22;
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t57 = -t54+t55+t56;
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t58 = magZ*t57;
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t59 = t21*t22;
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t60 = t24*t26;
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t61 = t2*t12*t27;
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t62 = t59-t60+t61;
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t63 = magY*t62;
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t64 = t26*t30;
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t65 = t22*t33;
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t66 = t2*t11*t27;
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t67 = t64-t65+t66;
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t68 = magX*t67;
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t69 = t58-t63+t68;
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t70 = t53*t69;
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t34 = tan(t70);
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t71 = t34*t34;
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t72 = t71+1.0;
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t73 = 1.0/(t52*t52);
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A0[0][0] = -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)));
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A0[0][1] = 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)));
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A0[0][2] = 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)));
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