diff --git a/Tools/ecl_ekf/process_logdata_ekf.py b/Tools/ecl_ekf/process_logdata_ekf.py index 5e04edee73..b7b2fd2811 100755 --- a/Tools/ecl_ekf/process_logdata_ekf.py +++ b/Tools/ecl_ekf/process_logdata_ekf.py @@ -75,13 +75,13 @@ if ('accel_inconsistency_m_s_s' in sensor_preflight.keys()) and ('gyro_inconsist pp.savefig() plt.close(0) -# vertical velocity and position innovations -plt.figure(1,figsize=(20,13)) - # generate max, min and 1-std metadata innov_time = 1e-6*ekf2_innovations['timestamp'] status_time = 1e-6*estimator_status['timestamp'] +# vertical velocity and position innovations +plt.figure(1,figsize=(20,13)) + # generate metadata for velocity innovations innov_2_max_arg = np.argmax(ekf2_innovations['vel_pos_innov[2]']) innov_2_max_time = innov_time[innov_2_max_arg] @@ -784,7 +784,7 @@ pp.savefig() plt.close(10) # innovation_check_flags summary -plt.figure(11,figsize=(20,13)) + # 0 - true if velocity observations have been rejected # 1 - true if horizontal position observations have been rejected # 2 - true if true if vertical position observations have been rejected @@ -808,6 +808,9 @@ hagl_innov_fail = ((2**8 & estimator_status['innovation_check_flags']) > 0)*1 ofx_innov_fail = ((2**9 & estimator_status['innovation_check_flags']) > 0)*1 ofy_innov_fail = ((2**10 & estimator_status['innovation_check_flags']) > 0)*1 +# plot innovation_check_flags summary +plt.figure(11,figsize=(20,13)) + plt.subplot(5,1,1) plt.title('EKF Innovation Test Fails') plt.plot(status_time,vel_innov_fail,'b',label='vel NED')