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ecl-ekf-tools: fix a bug related to time index calculation (#9489)

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- fix start and end time indices calculation
This commit is contained in:
JohannesBrand
2018-05-20 01:25:48 +02:00
committed by Daniel Agar
parent da5a9043a7
commit eb6086cc39
1 changed files with 8 additions and 8 deletions
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Tools/ecl_ekf/analyse_logdata_ekf.py
+8 -8
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@@ -999,19 +999,19 @@ def analyse_ekf(estimator_status, ekf2_innovations, sensor_preflight, check_leve
# Do some automated analysis of the status data # Do some automated analysis of the status data
# find a late/early index range from 5 sec after in_air_transtion_time to 5 sec before on-ground transition time for mag and optical flow checks to avoid false positives # find a late/early index range from 5 sec after in_air_transtion_time to 5 sec before on-ground transition time for mag and optical flow checks to avoid false positives
# this can be used to prevent false positives for sensors adversely affected by close proximity to the ground # this can be used to prevent false positives for sensors adversely affected by close proximity to the ground
late_start_index = np.argmin(status_time[np.where(status_time > (in_air_transition_time + 5.0))]) late_start_index = np.amin(np.where(status_time > (in_air_transition_time + 5.0)))
early_end_index = np.argmax(status_time[np.where(status_time < (on_ground_transition_time - 5.0))]) early_end_index = np.amax(np.where(status_time < (on_ground_transition_time - 5.0)))
num_valid_values_trimmed = (early_end_index - late_start_index + 1) num_valid_values_trimmed = (early_end_index - late_start_index + 1)
# normal index range is defined by the flight duration # normal index range is defined by the flight duration
start_index = np.argmin(status_time[np.where(status_time > in_air_transition_time)]) start_index = np.amin(np.where(status_time > in_air_transition_time))
end_index = np.argmax(status_time[np.where(status_time < on_ground_transition_time)]) end_index = np.amax(np.where(status_time < on_ground_transition_time))
num_valid_values = (end_index - start_index + 1) num_valid_values = (end_index - start_index + 1)
# also find the start and finish indexes for the innovation data # also find the start and finish indexes for the innovation data
innov_late_start_index = np.argmin(innov_time[np.where(innov_time > (in_air_transition_time + 5.0))]) innov_late_start_index = np.amin(np.where(innov_time > (in_air_transition_time + 5.0)))
innov_early_end_index = np.argmax(innov_time[np.where(innov_time < (on_ground_transition_time - 5.0))]) innov_early_end_index = np.amax(np.where(innov_time < (on_ground_transition_time - 5.0)))
innov_num_valid_values_trimmed = (innov_early_end_index - innov_late_start_index + 1) innov_num_valid_values_trimmed = (innov_early_end_index - innov_late_start_index + 1)
innov_start_index = np.argmin(innov_time[np.where(innov_time > in_air_transition_time)]) innov_start_index = np.amin(np.where(innov_time > in_air_transition_time))
innov_end_index = np.argmax(innov_time[np.where(innov_time < on_ground_transition_time)]) innov_end_index = np.amax(np.where(innov_time < on_ground_transition_time))
innov_num_valid_values = (innov_end_index - innov_start_index + 1) innov_num_valid_values = (innov_end_index - innov_start_index + 1)
# define dictionary of test results and descriptions # define dictionary of test results and descriptions
test_results = { test_results = {