float x0, v0, x1, y0, y1;

v0 = 0;

float factor =
    0.02f + __USAT(param_factor + inlet_factor, 27) * (0.96f / (1 << 27));
float vmax = 1 / ((1 - factor) * (1 - factor));
float vmin = 1 / ((1 + factor) * (1 + factor));
float coef = 2 / (vmax - vmin);
float offset = -coef * vmin - 1;

// update according to new values
x0 = 1 - factor * v0;
y0 = -1 / x0;

// Integ x^-2 dx = -x^-1 = -1/x

for (int i = 0; i < BUFSIZE; i++) {
  x1 = x0;
  y1 = y0;
  x0 = 1 - factor * (v0 = arm::q_to_float(__SSAT(inlet_in[i], 28), 27));
  float dx = x1 - x0;
  if (fabs(dx) > 0.005f) {
    y0 = -1 / x0;
    float dy = y1 - y0;
    outlet_out[i] = arm::float_to_q(coef * dy / dx + offset, 27);
  } else {
    float inv = 1 / x0;
    y0 = -inv;
    outlet_out[i] = arm::float_to_q(coef * inv * inv + offset, 27);
  }
}