CMSIS-DSP some matrix math functions are not found

Libraries
1

Hello there,
I’m new here and having some trouble with the CMSIS-DSP Arduino Library. I’m using the Teensy 4.1, and in my code, I called the arm_mat_add_f32() function and other matrix functions without any issues. But I get errors only when calling arm_mat_cholesky_f32() and arm_quaternion_normalize_f32().

Here’s the error log:

lib/ukf/src/ukf.cpp: In member function 'void ukf::ukf_predict(UKF_HANDLE*, float32_t*, float32_t*)':
lib/ukf/src/ukf.cpp:72:17: error: 'arm_mat_cholesky_f32' was not declared in this scope; did you mean 'arm_mat_scale_f32'?
   72 |                 arm_mat_cholesky_f32(&ukf->P, &ukf->P_sqrt);
      |                 ^~~~~~~~~~~~~~~~~~~~
      |                 arm_mat_scale_f32

lib/ukf/src/ukf.cpp:86:25: error: 'arm_quaternion_normalize_f32' was not declared in this scope
   86 |                         arm_quaternion_normalize_f32(xi_pred.q, xi_pred.q, 1);

Here’s a snippet of the code causing the issue:

void ukf::ukf_predict(UKF_HANDLE *ukf, float32_t omegaM[3], float32_t u[UKF_CTRL_DIM]) {
    arm_mat_add_f32(&ukf->P, &ukf->Q, &ukf->P);
    arm_mat_cholesky_f32(&ukf->P, &ukf->P_sqrt);

    ukf_generate_sigmaPoints(ukf, &ukf->P_sqrt);

    for (uint8_t i = 0; i < UKF_SIGMA_CNT; i++) {
        UKF_STATE xi = {0}, xi_pred = {0};

        memcpy(xi.q, &ukf->sigma.pData[i * UKF_STATE_DIM], sizeof(float32_t) * 4);
        memcpy(xi.b, &ukf->sigma.pData[i * UKF_STATE_DIM + 4], sizeof(float32_t) * 3);

        ukf_process_model(&xi, omegaM, u, &xi_pred);

        arm_quaternion_normalize_f32(xi_pred.q, xi_pred.q, 1);

        memcpy(&ukf->sigma.pData[i * UKF_STATE_DIM], xi_pred.q, sizeof(float32_t) * 4);
        memcpy(&ukf->sigma.pData[i * UKF_STATE_DIM + 4], xi_pred.b, sizeof(float32_t) * 3);
    }
}

and here is my platformio.ini:

[env:teensy41]
platform = teensy
board = teensy41
framework = arduino
lib_deps = 
    arduino-libraries/Arduino_CMSIS-DSP @ ^0.0.1
    SPI @ ^1.0

build_flags = 
    -DARM_MATH_MATRIX_CHECK
    -DARM_MATH_QUATERNION
    -D__FPU_PRESENT=1
    -DARM_MATH_LOOPUNROLL
    -ARM_MATH_MVEF

Has anyone else run into this issue or have any tips?

thanks in advanced.