You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: ins_euler.m
    path of file: ./repos/MSS/GNC
    
    the code of the file until where you have to start completion: function [x_ins, P_prd] = ins_euler(...
   x_ins, P_prd, mu, h, Qd, Rd, f_imu, w_imu, psi, y_pos, y_vel)
% Error-state (indirect) feedback KF for INS aided by position and compass
% measurements y_pos and psi. The velocity aiding signal y_vel is optionally. 
% The KF is implemented as a feedback filter using reset. 
% Attitude is parametrized using Euler angles.  
%
% See ExINS_Euler for how to implement the Kalman filter loop:
%
% if (new slow measurement)

    
function [x_ins, P_prd] = ins_euler(...
   x_ins, P_prd, mu, h, Qd, Rd, f_imu, w_imu, psi, y_pos, y_vel)
% Error-state (indirect) feedback KF for INS aided by position and compass
% measurements y_pos and psi. The velocity aiding signal y_vel is optionally. 
% The KF is implemented as a feedback filter using reset. 
% Attitude is parametrized using Euler angles.  
%
% See ExINS_Euler for how to implement the Kalman filter loop:
%
% if (new slow measurement)
%
%   ins_euler(x_ins, P_prd, mu, h, Qd, Rd, f_imu, w_imu, psi, y_pos, y_vel)
%
% else (no measurement)
%
%   ins_euler(x_ins, P_prd, mu, h, Qd, Rd, f_imu, w_imu, psi)
%
% end