Changeset 1197 for applications/pmsm

Timestamp:

09/29/10 11:21:55 (14 years ago)

Author:

smidl

Message:

correct thorton_fast!

Files:

• applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp (modified) (2 diffs)

applications/pmsm/simulator_zdenek/ekf_example/matrix_vs.cpp

@@ -191 +191 @@
     int *G_ik,*G_jk;
     int irows,jrows;
-    long sigma; // in q15
+    long sigma; // in q30!!
 
     for (i=0,Dold_i=Dold,D_i=D;i<rows;i++,Dold_i++,D_i++) {
@@ -213 +213 @@
         irows=i*rows;
         sigma = 0;
-        for (k=0, PSIU_ik=PSIU+irows;
-           k<rows; k++, PSIU_ik++) {//Dold_i=
-            sigma += (((long)(*PSIU_ik)**PSIU_ik)>>15)*(*Dold_i);
+        for (k=0, PSIU_ik=PSIU+irows,Dold_k=Dold;
+           k<rows; k++, PSIU_ik++,Dold_k++) {//Dold_i=
+            sigma += (((long)(*PSIU_ik)**PSIU_ik)>>15)*(*Dold_k);
                 }
                 sigma += *(Q+i+irows)<<15;