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This commit is contained in:
Antoine Drouin
2007-07-31 15:18:32 +00:00
parent f60cc9d7c9
commit 34b2263546
3 changed files with 33 additions and 3 deletions
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sw/in_progress/barometer/baro_utils.sci
+22
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@@ -0,0 +1,22 @@
function [time, gps_alt, pressure, gps_climb, temp] = baro_read_log(filename)
time=[];
gps_alt=[];
pressure=[];
gps_climb=[];
temp=[];
u=mopen(filename, 'r');
idx = 0;
while meof(u) == 0,
line = mgetl(u, 1);
[nb_scan, ti, ga, p, gc, te] = msscanf(1, line, '%f %f %f %f %f');
time = [time ti];
gps_alt = [gps_alt ga];
pressure = [pressure p];
gps_climb = [gps_climb gc];
temp = [temp te];
end
mclose(u);
endfunction
sw/in_progress/barometer/test1.sce
+7
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@@ -0,0 +1,7 @@
clear();
getf('baro_utils.sci');
filename = "data/07_07_26__16_37_09.baro.txt";
[time, gps_alt, pressure, gps_climb, temp] = baro_read_log(filename);
plot2d(time, gps_alt);
sw/in_progress/inertial/scilab/ahrs_quat_ekf_seqm.sce
+4 -3
View File
@@ -1,6 +1,7 @@
clear();
getf('rotations.sci');
getf('imu.sci');
getf('ahrs_euler_utils.sci');
getf('ahrs_quat_utils.sci');
getf('ekf.sci');
@@ -105,17 +106,17 @@ for i=1:length(time)-1
case AHRS_STEP_PHI,
measure = phi_of_accel(accel(:,i));
estimate = est_euler(1);
H = ahrs_quat_get_dphi_dq(X1);
H = ahrs_quat_get_dphi_dX(X1);
R = [1.3^2];
case AHRS_STEP_THETA,
measure = theta_of_accel(accel(:,i));
estimate = est_euler(2);
H = ahrs_quat_get_dtheta_dq(X1);
H = ahrs_quat_get_dtheta_dX(X1);
R = [1.3^2];
case AHRS_STEP_PSI,
measure = psi_of_mag(m_eulers(1,i), m_eulers(2,i), mag(:,i));
estimate = est_euler(3);
H = ahrs_quat_get_dpsi_dq(X1);
H = ahrs_quat_get_dpsi_dX(X1);
R = [2.5^2];
end