<![CDATA[Process Jacobian]]>Hello
I have question to the process Jacobian in PredictFunctions.c file.
There is #if #else preprocessing macro in _UpdateProcessJacobian() which selects code that updates ∂v∂q submatrix in your explanation here:
https://openimu.readthedocs.io/en/latest/algorithms/Process_Jacobian.html
I don't understand why the #if branch is selected instead of #else branch, because according to the explanation the #else branch should be selected.
Where did

gKalmanFilter.R_BinN[0][0]*q0aXdT -                                      gKalmanFilter.R_BinN[0][1]*q0aYdT -                                                 gKalmanFilter.R_BinN[0][2]*q0aZdT);

come from? Why is not there only

q0aXdT - q3aYdT + q2aZdT

?

Thank you
Best regards
Pavel

]]>https://forum.aceinna.com//topic/344/process-jacobianRSS for NodeSun, 13 Sep 2026 10:42:13 GMTFri, 13 May 2022 10:30:16 GMT60<![CDATA[Reply to Process Jacobian on Fri, 13 May 2022 10:31:42 GMT]]>Hello
I have question to the process Jacobian in PredictFunctions.c file.
There is #if #else preprocessing macro in _UpdateProcessJacobian() which selects code that updates ∂v∂q submatrix in your explanation here:
https://openimu.readthedocs.io/en/latest/algorithms/Process_Jacobian.html
I don't understand why the #if branch is selected instead of #else branch, because according to the explanation the #else branch should be selected.
Where did

gKalmanFilter.R_BinN[0][0]*q0aXdT -                                      gKalmanFilter.R_BinN[0][1]*q0aYdT -                                                 gKalmanFilter.R_BinN[0][2]*q0aZdT);

come from? Why is not there only

q0aXdT - q3aYdT + q2aZdT

?

Thank you
Best regards
Pavel

]]>https://forum.aceinna.com//post/1422https://forum.aceinna.com//post/1422Fri, 13 May 2022 10:31:42 GMT