#define AFE_COMPUTE_H_PHI() { \
const FLOAT_T phi_err = 2 / (afe_dcm22*afe_dcm22 + afe_dcm12*afe_dcm12); \
afe_H[0] = (afe_q1 * afe_dcm22-afe_q0*afe_dcm12) * phi_err; \
afe_H[1] = (afe_q0 * afe_dcm22 + afe_q1 * afe_dcm12) * phi_err; \
afe_H[2] = (afe_q3 * afe_dcm22 +afe_q2 * afe_dcm12) * phi_err; \
afe_H[3] = (afe_q2 * afe_dcm22-afe_q3*afe_dcm12) * phi_err; \
}