{
  "ardupilot": {
    "w": {
      "eqn": "2*pi*x",
      "prefix": "mul INT+ 2 mul pi x",
      "constants": {}
    },
    "degF_to_Kelvin": {
      "eqn": "(x+459.67)*0.55556",
      "prefix": "mul k0 add x k1",
      "constants": {"k0": "459.67", "k1": "0.55556"}
    },
    "radians": {
      "eqn": "x*pi/180",
      "prefix": "mul k0 x",
      "constants": {"k0": "pi/180"}
    },
    "degrees": {
      "eqn": "x*180/pi",
      "prefix": "mul k0 x",
      "constants": {"k0": "180/pi"}
    },
    "sq": {
      "eqn": "x**2",
      "prefix": "pow x INT+ 2",
      "constants": {}
    },
    "angle_to_accel": {
      "eqn": "9.80665*tan(x*pi/180)",
      "prefix": "mul k0 tan mul x k1",
      "constants": {"k0": "9.80665", "k1": "pi/180"}
    },
    "accel_to_angle": {
      "eqn": "atan(x/9.80665)*180/pi",
      "prefix": "mul atan div x k0 k1",
      "constants": {"k0": "9.80665", "k1": "180/pi"}
    },
    "tau": {
      "eqn": "0.25*log(3*x**2 + 6*x + 1) - sqrt(6)/24*log((x+1-sqrt(2/3))/(x + 1 + sqrt(2/3)))",
      "prefix": "sub mul div INT+ 1 INT+ 4 log add mul INT+ 3 pow x INT+ 2 add mul INT+ 6 x INT+ 1 mul k0 log div sub add x INT+ 1 k1 add x add INT+ 1 k1",
      "constants": {"k0": "sqrt(6)/24", "k1": "sqrt(2/3)"}
    }
  },
  "paparazzi": {
    "isometric_latitude0": {
      "eqn": "log(tan(pi/4+x/2))",
      "prefix": "log tan add div pi INT+ 4 div x INT+ 2",
      "constants": {}
    },
    "pprz_isa_pressure_of_altitude": {
      "eqn": "101325*exp((-1/8434.667799)*x)",
      "prefix": "mul k0 exp mul k1 x",
      "constants": {"k0": "101325", "k1": "-1/8434.667799"}
    },
    "pprz_isa_altitude_of_pressure": {
      "eqn": "8434.667799*log(101325/x)",
      "prefix": "mul k0 log div k1 x",
      "constants": {"k1": "101325", "k0": "8434.667799"}
    },
    "pprz_isa_pressure_of_height": {
      "eqn": "0.8*101325*exp((-1/8434.667799)*x)",
      "prefix": "mul k0 exp mul k1 x",
      "constants": {"k0": "0.8*101325", "k1": "-1/8434.667799"}
    },
    "pprz_isa_height_of_pressure_full": {
      "eqn": "(1-pow(x/(0.8*101325), 0.19029848))*288.15/0.0065",
      "prefix": "mul sub INT +1 pow div x k0 k1 k2",
      "constants": {"k0": "0.8*101325", "k1": "0.19029848", "k2": "288.15/0.0065"}
    },
    "pprz_isa_height_of_pressure": {
      "eqn": "8434.667799*log(0.8*101325/x)",
      "prefix": "mul k0 log div k1 x",
      "constants": {"k1": "0.8*101325", "k0": "8434.667799"}
    },
    "pprz_isa_temperature_of_altitude": {
      "eqn": "288.15 - 0.0065*x",
      "prefix": "sub k0 mul k1 x",
      "constants": {"k0": "288.15", "k1": "0.0065"}
    },
    "change_rep": {
      "eqn": "pi/2-x",
      "prefix": "sub div pi INT+ 2 x",
      "constants": {}
    },
    "eas_from_dynamic_pressure": {
      "eqn": "sqrt(x*2/1.225)",
      "prefix": "pow mul x k0 div INT+ 1 INT+ 2",
      "constants": {"k0": "2/1.225"}
    },
    "nmea_degree2radian": {
      "eqn": "x*pi/180",
      "prefix": "mul x k0",
      "constants": {"k0": "pi/180"}
    },
    "nmea_radian2degree": {
      "eqn": "x*180/pi",
      "prefix": "mul x k0",
      "constants": {"k0": "180/pi"}
    }
  },
  "cleanflight": {
    "invSqrt": {
      "eqn": "1/sqrt(x)",
      "prefix": "pow x div INT- 1 INT+ 2",
      "constants": {}
    },
    "pressureToAltitude": {
      "eqn": "1-pow(x/101325, 0.190295)*4433000",
      "prefix": "sub INT+ 1 mul pow div x k0 k1 k2",
      "constants": {"k0": "101325", "k1": "0.190295", "k2": "4433000"}
    },
    "dynThrottle": {
      "eqn": "x*(1-x*x/3)*1.5",
      "prefix": "mul x mul sub INT+ 1 div pow x INT+ 2 INT+ 3 div INT+ 3 INT+ 2",
      "constants": {}
    },
    "calculateAccZLowPassFilterRCTimeConstant": {
      "eqn": "0.5/pi/x",
      "prefix": "div k0 x",
      "constants": {"k0": "0.5/pi"}
    },
    "calculateThrottleAngleScale": {
      "eqn": "1800/pi*900/x",
      "prefix": "div k0 x",
      "constants": {"k0": "1800/pi*900"}
    },
    "sin_approx": {
      "eqn": "sin(x)",
      "prefix": "",
      "constants": {}
    },
    "acos_approx": {
      "eqn": "acos(x)",
      "prefix": "",
      "constants": {}
    }
  },
  "nn_funcs": {
    "logistic": {
      "eqn": "1/(1+exp(-x))",
      "prefix": "div INT+ 1 add INT+ 1 exp mul INT- 1 x",
      "constants": {}
    },
    "rbf": {
      "eqn": "exp(-(x-0.7328)**2/1.9983)",
      "prefix": "exp div pow sub x k0 INT+ 2 k1",
      "constants": {"k0": "0.7328", "k1": "1.9983"}
    },
    "multiquad": {
      "eqn": "sqrt((x-0.881)**2+8.66172)",
      "prefix": "pow add pow sub x k0 INT+ 2 k1 div INT+ 1 INT+ 2",
      "constants": {"k0": "0.881", "k1": "8.66172"}
    },
    "invmultiquad": {
      "eqn": "1/sqrt((x-0.881)**2+8.66172)",
      "prefix": "pow add pow sub x k0 INT+ 2 k1 div INT- 1 INT+ 2",
      "constants": {"k0": "0.881", "k1": "8.66172"}
    },
    "tanh": {
      "eqn": "tanh(x)",
      "prefix": "div sub exp x exp mul INT- 1 x add exp x exp mul INT- 1 x",
      "constants": {}
    },
    "softplus": {
      "eqn": "log(1+exp(x))",
      "prefix": "log add INT+ 1 exp x",
      "constants": {}
    },
    "silu": {
      "eqn": "x/(1+exp(-x))",
      "prefix": "div x add INT+ 1 exp mul INT- 1 x",
      "constants": {}
    }
  },
  "ntc_thermistor": {
    "resistanceToKelvins": {
      "eqn": "1/25+log(x/100000)/3950",
      "prefix": "add div INT+ 1 INT+ 2 5 div log div x k0 k1",
      "constants": {"k0": "100000", "k1": "3950"}
    },
    "readResistance": {
      "eqn": "8000/(1024/x - 1)",
      "prefix": "div k0 sub div k1 x INT+ 1",
      "constants": {"k0": "8000", "k1": "1024"}
    },
    "celsiusToKelvins": {
      "eqn": "x+273.15",
      "prefix": "add x k0",
      "constants": {"k0": "273.15"}
    },
    "kelvinsToCelsius": {
      "eqn": "x-273.15",
      "prefix": "sub x k0",
      "constants": {"k0": "273.15"}
    },
    "celsiusToFahrenheit": {
      "eqn": "x*1.8+32",
      "prefix": "add mul x div INT+ 9 INT+ 5 INT+ 3 2",
      "constants": {}
    },
    "kelvinsToFahrenheit": {
      "eqn": "(x-273.15)*1.8+32",
      "prefix": "add mul sub x k0 div INT+ 9 INT+ 5 INT+ 3 2",
      "constants": {"k0": "273.15"}
    }
  },
  "arduino_sensorkit": {
    "calcAltitude": {
      "eqn": "(1-(x/101325)**(1/5.25588))/0.0000225577",
      "prefix": "div sub INT+ 1 pow div x k0 k1 k2",
      "constants": {"k0": "101325", "k1": "1/5.25588", "k2": "0.000225577"}
    },
    "convertCtoF": {
      "eqn": "x*1.8+32",
      "prefix": "add mul x div INT+ 9 INT+ 5 INT+ 3 2",
      "constants": {}
    }
  },
  "pathtracing": {
    "fresnelReflectanceAtNormal": {
      "eqn": "(1-x)**2/(1+x)**2",
      "prefix": "pow div sub INT+ 1 x add INT+ 1 x INT+ 2",
      "constants": {}
    },
    "blinToBeckmann": {
      "eqn": "sqrt(2/(2+x))",
      "prefix": "pow div INT+ 2 add x INT+ 2 div INT+ 1 INT+ 2",
      "constants": {}
    },
    "beckmannToBlinn": {
      "eqn": "2/x**2 - 2",
      "prefix": "add div INT+ 2 mul x x INT- 2",
      "constants": {}
    }
  }
}