sympy generated code vs final code

[tianzhuqiao]

Thanks for the great project. I am reading the doc and code; and for some fusion, I am not sure how we use the generated code (from python sympy) in the final code. For example,

this is the generated code for gps yaw fusion

PX4-ECL/EKF/python/ekf_derivation/generated/gps_yaw_generated.cpp

Line 2 in b3fed06

const float HK0 = cosf(ant_yaw);

and this is the final code

PX4-ECL/EKF/gps_yaw_fusion.cpp

Line 77 in b3fed06

const float HK0 = sinf(_gps_yaw_offset);

Looks like they doesn't match with each other. Do I miss something? Or do we update the model (either in sympy or in the final code)? Thanks!

[bresch]

Hi @tianzhuqiao , this repo is not updated anymore, we moved everything to PX4 directly. We also migrated the derivation to SymForce, this allows to change the derivation in python, re-generate the code in a couple of seconds and test immediately without having to copy-paste anything.

Here is the new derivation: https://github.com/PX4/PX4-Autopilot/blob/8ea04b0f8fd896c73f0fd47e92957072f31d46f1/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py#L392-L414

Here is for example the auto-generated code for the GNSS yaw fusion: https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h

And here is where the generated function is used: https://github.com/PX4/PX4-Autopilot/blob/8ea04b0f8fd896c73f0fd47e92957072f31d46f1/src/modules/ekf2/EKF/gps_yaw_fusion.cpp#L100
No more mix of auto-generated code in the cpp files.