APM:Libraries: libraries/AP_NavEKF/Models/GimbalEstimatorExample/calcH_MAG.c File Reference

APM:Libraries

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Variables
	t2 = cos(gPhi)

	t3 = cos(gTheta)

	t4 = sin(gPhi)

	t5 = sin(gTheta)

	t6 = q0*q0

	t7 = q1*q1

	t8 = q2*q2

	t9 = q3*q3

	t10 = t6+t7-t8-t9

	t11 = sin(gPsi)

	t12 = cos(gPsi)

	t13 = q0q22.0

	t14 = q1q32.0

	t15 = t13+t14

	t16 = q0q32.0

	t18 = q1q22.0

	t17 = t16-t18

	t19 = t3*t11

	t20 = t4t5t12

	t21 = t19+t20

	t22 = t16+t18

	t23 = t5*t11

	t41 = t3t4t12

	t24 = t23-t41

	t25 = q0q12.0

	t31 = q2q32.0

	t26 = t25-t31

	t27 = t6-t7+t8-t9

	t28 = t5*t12

	t29 = t3t4t11

	t30 = t28+t29

	t32 = t3*t12

	t46 = t4t5t11

	t33 = t32-t46

	t35 = t4*t17

	t36 = t2t5t10

	t37 = t2t3t15

	t38 = t35+t36-t37

	t39 = magZ*t38

	t40 = t10*t21

	t42 = t15*t24

	t43 = t2t12t17

	t44 = t40+t42-t43

	t45 = magY*t44

	t47 = t10*t33

	t48 = t15*t30

	t49 = t2t11t17

	t50 = t47+t48+t49

	t51 = magX*t50

	t52 = -t39+t45+t51

	t53 = 1.0/t52

	t54 = t4*t27

	t55 = t2t3t26

	t56 = t2t5t22

	t57 = -t54+t55+t56

	t58 = magZ*t57

	t59 = t21*t22

	t60 = t24*t26

	t61 = t2t12t27

	t62 = t59-t60+t61

	t63 = magY*t62

	t64 = t26*t30

	t65 = t22*t33

	t66 = t2t11t27

	t67 = t64-t65+t66

	t68 = magX*t67

	t69 = t58-t63+t68

	t70 = t53*t69

	t34 = tan(t70)

	t71 = t34*t34

	t72 = t71+1.0

	t73 = 1.0/(t52*t52)

	A0 [0][0] = -t72(t53(magZ(t4t26+t2t3t27)+magY(t24t27+t2t12t26)+magX(t27t30-t2t11t26))-t69t73(magZ(t4t15+t2t3t17)+magY(t17t24+t2t12t15)+magX(t17t30-t2t11t15)))

Variable Documentation

◆ A0

A0[0][2] = -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)))

Definition at line 73 of file calcH_MAG.c.

◆ t10

◆ t11

t11 = sin(gPsi)

Definition at line 10 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t12

t12 = cos(gPsi)

Definition at line 11 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t13

t13 = q0*q2*2.0

Definition at line 12 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t14

t14 = q1*q3*2.0

Definition at line 13 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t15

t15 = t13+t14

Definition at line 14 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t16

t16 = q0*q3*2.0

Definition at line 15 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t17

t17 = t16-t18

Definition at line 17 of file calcH_MAG.c.

Referenced by NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t18

t18 = q1*q2*2.0

Definition at line 16 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF3_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t19

t19 = t3*t11

Definition at line 18 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF3_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t2

t2 = cos(gPhi)

Definition at line 1 of file calcH_MAG.c.

Referenced by AP_InertialSensor_Invensense::_accumulate(), AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), Vector2< int32_t >::circle_segment_intersection(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), Quaternion::from_axis_angle_fast(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), NavEKF3_core::initialiseQuatCovariances(), AP_AHRS_DCM::normalize(), Matrix3< float >::normalize(), Quaternion::rotate_fast(), and AP_SmartRTL::segment_segment_dist().

◆ t20

t20 = t4*t5*t12

Definition at line 19 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF3_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t21

t21 = t19+t20

Definition at line 20 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF3_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t22

t22 = t16+t18

Definition at line 21 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t23

t23 = t5*t11

Definition at line 22 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t24

t24 = t23-t41

Definition at line 24 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t25

t25 = q0*q1*2.0

Definition at line 25 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t26

t26 = t25-t31

Definition at line 27 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t27

t27 = t6-t7+t8-t9

Definition at line 28 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t28

t28 = t5*t12

Definition at line 29 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t29

t29 = t3*t4*t11

Definition at line 30 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t3

t3 = cos(gTheta)

Definition at line 2 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t30

t30 = t28+t29

Definition at line 31 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t31

t31 = q2*q3*2.0

Definition at line 26 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t32

t32 = t3*t12

Definition at line 32 of file calcH_MAG.c.

Referenced by NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t33

t33 = t32-t46

Definition at line 34 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t34

t34 = tan(t70)

Definition at line 69 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t35

t35 = t4*t17

Definition at line 35 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t36

t36 = t2*t5*t10

Definition at line 36 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t37

t37 = t2*t3*t15

Definition at line 37 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t38

t38 = t35+t36-t37

Definition at line 38 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t39

t39 = magZ*t38

Definition at line 39 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t4

t4 = sin(gPhi)

Definition at line 3 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t40

t40 = t10*t21

Definition at line 40 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t41

t41 = t3*t4*t12

Definition at line 23 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t42

t42 = t15*t24

Definition at line 41 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t43

t43 = t2*t12*t17

Definition at line 42 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t44

t44 = t40+t42-t43

Definition at line 43 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), and NavEKF3_core::initialiseQuatCovariances().

◆ t45

t45 = magY*t44

Definition at line 44 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t46

t46 = t4*t5*t11

Definition at line 33 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t47

t47 = t10*t33

Definition at line 45 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t48

t48 = t15*t30

Definition at line 46 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t49

t49 = t2*t11*t17

Definition at line 47 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t5

t5 = sin(gTheta)

Definition at line 4 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t50

t50 = t47+t48+t49

Definition at line 48 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t51

t51 = magX*t50

Definition at line 49 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t52

t52 = -t39+t45+t51

Definition at line 50 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t53

t53 = 1.0/t52

Definition at line 51 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t54

t54 = t4*t27

Definition at line 52 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t55

t55 = t2*t3*t26

Definition at line 53 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t56

t56 = t2*t5*t22

Definition at line 54 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t57

t57 = -t54+t55+t56

Definition at line 55 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t58

t58 = magZ*t57

Definition at line 56 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t59

t59 = t21*t22

Definition at line 57 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t6

t6 = q0*q0

Definition at line 5 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t60

t60 = t24*t26

Definition at line 58 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t61

t61 = t2*t12*t27

Definition at line 59 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t62

t62 = t59-t60+t61

Definition at line 60 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t63

t63 = magY*t62

Definition at line 61 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t64

t64 = t26*t30

Definition at line 62 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t65

t65 = t22*t33

Definition at line 63 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t66

t66 = t2*t11*t27

Definition at line 64 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t67

t67 = t64-t65+t66

Definition at line 65 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t68

t68 = magX*t67

Definition at line 66 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t69

t69 = t58-t63+t68

Definition at line 67 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t7

t7 = q1*q1

Definition at line 6 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t70

t70 = t53*t69

Definition at line 68 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t71

t71 = t34*t34

Definition at line 70 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t72

t72 = t71+1.0

Definition at line 71 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t73

t73 = 1.0/(t52*t52)

Definition at line 72 of file calcH_MAG.c.

Referenced by NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseOptFlow(), and NavEKF3_core::FuseOptFlow().

◆ t8

t8 = q2*q2

Definition at line 7 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().

◆ t9

t9 = q3*q3

Definition at line 8 of file calcH_MAG.c.

Referenced by NavEKF2_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::CalcRangeBeaconPosDownOffset(), NavEKF3_core::calcRotVecVariances(), NavEKF2_core::EstimateTerrainOffset(), NavEKF3_core::EstimateTerrainOffset(), NavEKF3_core::FuseBodyVel(), NavEKF2_core::FuseDeclination(), NavEKF3_core::FuseDeclination(), NavEKF2_core::fuseEulerYaw(), NavEKF3_core::fuseEulerYaw(), NavEKF2_core::FuseOptFlow(), NavEKF3_core::FuseOptFlow(), NavEKF2_core::FuseRngBcn(), NavEKF3_core::FuseRngBcn(), NavEKF2_core::FuseRngBcnStatic(), NavEKF3_core::FuseRngBcnStatic(), and NavEKF3_core::initialiseQuatCovariances().