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This commit is contained in:
Antoine Drouin
2008-08-27 05:03:18 +00:00
parent 46ebdbc8df
commit d0e717d3fb
7 changed files with 124 additions and 57 deletions
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conf/airframes/booz2.xml
+15 -15
View File
@@ -94,9 +94,9 @@
<define name="GYRO_Y_NEUTRAL" value="32272"/> <define name="GYRO_Y_NEUTRAL" value="32272"/>
<define name="GYRO_Z_NEUTRAL" value="32420"/> <define name="GYRO_Z_NEUTRAL" value="32420"/>
<define name="GYRO_X_SENS" value="( 4500.)"/> <define name="GYRO_X_SENS" value="( 4000.)"/>
<define name="GYRO_Y_SENS" value="(-4500.)"/> <define name="GYRO_Y_SENS" value="(-4000.)"/>
<define name="GYRO_Z_SENS" value="( 4500.)"/> <define name="GYRO_Z_SENS" value="( 4000.)"/>
<define name="ACCEL_X_CHAN" value="2"/> <define name="ACCEL_X_CHAN" value="2"/>
<define name="ACCEL_Y_CHAN" value="5"/> <define name="ACCEL_Y_CHAN" value="5"/>
@@ -111,18 +111,18 @@
<define name="ACCEL_Z_SENS" value="( 167)"/> <define name="ACCEL_Z_SENS" value="( 167)"/>
<define name="MAG_X_CHAN" value="0"/> <define name="MAG_X_CHAN" value="4"/>
<define name="MAG_Y_CHAN" value="4"/> <define name="MAG_Y_CHAN" value="0"/>
<define name="MAG_Z_CHAN" value="2"/> <define name="MAG_Z_CHAN" value="2"/>
<define name="MAG_X_NEUTRAL" value="1950"/> <define name="MAG_X_NEUTRAL" value="2035"/>
<define name="MAG_Y_NEUTRAL" value="2017"/> <define name="MAG_Y_NEUTRAL" value="2121"/>
<define name="MAG_Z_NEUTRAL" value="2110"/> <define name="MAG_Z_NEUTRAL" value="1943"/>
<define name="MAG_X_SENS" value=" 467."/> <define name="MAG_X_SENS" value="-446."/>
<define name="MAG_Y_SENS" value="-434."/> <define name="MAG_Y_SENS" value="-456."/>
<define name="MAG_Z_SENS" value=" 440."/> <define name="MAG_Z_SENS" value=" 474."/>
</section> </section>
@@ -147,11 +147,11 @@
<define name="SP_MAX_R" value="5500"/> <define name="SP_MAX_R" value="5500"/>
<define name="DEADBAND_R" value="250"/> <define name="DEADBAND_R" value="250"/>
<define name="PHI_THETA_PGAIN" value="-4000"/> <define name="PHI_THETA_PGAIN" value="-400"/>
<define name="PHI_THETA_DGAIN" value="-2000"/> <define name="PHI_THETA_DGAIN" value="-300"/>
<define name="PSI_PGAIN" value="-2000"/> <define name="PSI_PGAIN" value="-300"/>
<define name="PSI_DGAIN" value="-1000"/> <define name="PSI_DGAIN" value="-200"/>
</section> </section>
conf/autopilot/conf_booz2.makefile
+8 -8
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@@ -87,7 +87,7 @@ ap.TARGETDIR = ap
ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) ap.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
ap.srcs += $(BOOZ_PRIV)/booz2_main.c ap.srcs += $(BOOZ_PRIV)/booz2_main.c
ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1 ap.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
ap.CFLAGS += -DLED ap.CFLAGS += -DLED
ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c ap.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -156,7 +156,7 @@ imu.TARGETDIR = imu
imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) imu.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c imu.srcs += $(BOOZ_PRIV)/imu_v3_main.c
imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' imu.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1 # -DTIME_LED=1
imu.CFLAGS += -DLED imu.CFLAGS += -DLED
imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c imu.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -195,7 +195,7 @@ imu_test_micromag.TARGETDIR = imu_test_micromag
imu_test_micromag.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) imu_test_micromag.CFLAGS += -DCONFIG=\"pprz_imu.h\" -I$(BOOZ) -I$(BOOZ_ARCH) -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
imu_test_micromag.srcs += $(BOOZ_PRIV_TEST)/imu_v3_test_micromag.c imu_test_micromag.srcs += $(BOOZ_PRIV_TEST)/imu_v3_test_micromag.c
imu_test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' imu_test_micromag.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))'
# -DTIME_LED=1 # -DTIME_LED=1
imu_test_micromag.CFLAGS += -DLED imu_test_micromag.CFLAGS += -DLED
imu_test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c imu_test_micromag.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -228,7 +228,7 @@ tunnel.TARGETDIR = tunnel
tunnel.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV_ARCH) tunnel.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV_ARCH)
tunnel.srcs += $(BOOZ_PRIV_TEST)/booz2_tunnel.c tunnel.srcs += $(BOOZ_PRIV_TEST)/booz2_tunnel.c
tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1 tunnel.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
tunnel.CFLAGS += -DLED tunnel.CFLAGS += -DLED
tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c tunnel.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -246,7 +246,7 @@ test_gps.TARGETDIR = test_gps
test_gps.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) test_gps.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
test_gps.srcs += $(BOOZ_PRIV_TEST)/booz2_test_gps.c test_gps.srcs += $(BOOZ_PRIV_TEST)/booz2_test_gps.c
test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1 test_gps.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_gps.CFLAGS += -DLED test_gps.CFLAGS += -DLED
test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_gps.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -269,7 +269,7 @@ test_led.TARGETDIR = test_led
test_led.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV_ARCH) test_led.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV_ARCH)
test_led.srcs += $(BOOZ_PRIV)/test_led.c test_led.srcs += $(BOOZ_PRIV)/test_led.c
test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1000.))' -DTIME_LED=1 test_led.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1
test_led.CFLAGS += -DLED test_led.CFLAGS += -DLED
test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_led.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -283,7 +283,7 @@ test_modem.TARGETDIR = test_modem
test_modem.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH) test_modem.CFLAGS += -DCONFIG=\"tiny_1_1.h\" -I$(BOOZ_PRIV_ARCH)
test_modem.srcs += $(BOOZ_PRIV)/test_modem.c test_modem.srcs += $(BOOZ_PRIV)/test_modem.c
test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1000.))' -DTIME_LED=1 test_modem.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./1024.))' -DTIME_LED=1
test_modem.CFLAGS += -DLED test_modem.CFLAGS += -DLED
test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_modem.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
@@ -333,7 +333,7 @@ test_crista.TARGETDIR = test_crista
test_crista.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH) test_crista.CFLAGS += -DCONFIG=\"booz2_board.h\" -I$(BOOZ_PRIV) -I$(BOOZ_PRIV_ARCH)
test_crista.srcs += $(BOOZ_PRIV_TEST)/booz2_test_crista.c test_crista.srcs += $(BOOZ_PRIV_TEST)/booz2_test_crista.c
test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./500.))' -DTIME_LED=1 test_crista.CFLAGS += -DPERIODIC_TASK_PERIOD='SYS_TICS_OF_SEC((1./512.))' -DTIME_LED=1
test_crista.CFLAGS += -DLED test_crista.CFLAGS += -DLED
test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c test_crista.srcs += sys_time.c $(SRC_ARCH)/sys_time_hw.c $(SRC_ARCH)/armVIC.c
conf/messages.xml
+19 -12
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@@ -989,25 +989,32 @@
<field name="qz" type="int32"/> <field name="qz" type="int32"/>
</message> </message>
<message name="BOOZ2_STAB_ATTITUDE" ID="140"> <message name="BOOZ2_STAB_ATTITUDE" ID="140">
<field name="m_p" type="int32"/>
<field name="m_q" type="int32"/>
<field name="m_r" type="int32"/>
<field name="m_phi" type="int32"/>
<field name="m_theta" type="int32"/>
<field name="m_psi" type="int32"/>
<field name="sp_phi" type="int32"/> <field name="sp_phi" type="int32"/>
<field name="sp_theta" type="int32"/> <field name="sp_theta" type="int32"/>
<field name="sp_psi" type="int32"/> <field name="sp_psi" type="int32"/>
<field name="delta_a" type="int32"/>
<field name="delta_e" type="int32"/>
<field name="delta_r" type="int32"/>
<field name="delta_t" type="int32"/>
</message> </message>
<message name="BOOZ2_STAB_ATTITUDE_REF" ID="141"> <message name="BOOZ2_STAB_ATTITUDE_REF" ID="141">
<field name="pd" type="int32"/> <field name="pd" type="int32"/>
<field name="qd" type="int32"/> <field name="qd" type="int32"/>
<field name="rd" type="int32"/> <field name="rd" type="int32"/>
<field name="p" type="int32"/> <field name="p" type="int32"/>
<field name="q" type="int32"/> <field name="q" type="int32"/>
<field name="r" type="int32"/> <field name="r" type="int32"/>
<field name="qi" type="int32"/> <field name="phi" type="int32"/>
<field name="qx" type="int32"/> <field name="theta" type="int32"/>
<field name="qy" type="int32"/> <field name="psi" type="int32"/>
<field name="qz" type="int32"/>
</message> </message>
conf/settings/settings_booz2.xml
+20
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@@ -14,5 +14,25 @@
</dl_settings> </dl_settings>
<dl_settings NAME="Att Loop">
<dl_setting var="booz_stabilization_pgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain phi"/>
<dl_setting var="booz_stabilization_pgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain tetha"/>
<dl_setting var="booz_stabilization_pgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="pgain psi"/>
<dl_setting var="booz_stabilization_dgain.x" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain p"/>
<dl_setting var="booz_stabilization_dgain.y" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain q"/>
<dl_setting var="booz_stabilization_dgain.z" min="-4000" step="1" max="-1" module="booz2_stabilization_attitude" shortname="dgain r"/>
</dl_settings>
<dl_settings NAME="Filter">
<dl_setting var="booz2_face_reinj_1" min="512" step="512" max="262144" module="booz2_filter_attitude_cmpl_euler" shortname="reinj_1"/>
</dl_settings>
<dl_settings NAME="Misc">
<dl_setting var="telemetry_mode_Main" min="0" step="1" max="5" module="booz2_telemetry" shortname="telemetry mode"/>
</dl_settings>
</dl_settings> </dl_settings>
</settings> </settings>
conf/telemetry/telemetry_booz2.xml
+49 -7
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@@ -8,18 +8,18 @@
<message name="DL_VALUE" period="1.1"/> <message name="DL_VALUE" period="1.1"/>
<message name="BOOZ_STATUS" period="1.2"/> <message name="BOOZ_STATUS" period="1.2"/>
<!-- <message name="BOOZ2_RATE_LOOP" period=".05"/> --> <!-- <message name="BOOZ2_RATE_LOOP" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE" period=".05"/> --> <!-- <message name="BOOZ2_STAB_ATTITUDE" period=".05"/> -->
<!-- <message name="BOOZ2_CMD" period=".05"/> --> <!-- <message name="BOOZ2_CMD" period=".05"/> -->
<!-- <message name="BOOZ2_STAB_ATTITUDE_REF" period=".05"/> --> <!-- <message name="BOOZ2_STAB_ATTITUDE_REF" period=".05"/> -->
<!-- <message name="BOOZ2_ALIGNER" period=".1"/> --> <!-- <message name="BOOZ2_ALIGNER" period=".1"/> -->
<!-- <message name="BOOZ2_FILTER" period=".5"/> --> <!-- <message name="BOOZ2_FILTER" period=".1"/> -->
<!-- <message name="BOOZ2_FILTER_Q" period=".1"/> --> <!-- <message name="BOOZ2_FILTER_Q" period=".1"/> -->
<!-- <message name="BOOZ2_GUIDANCE" period=".25"/> --> <!-- <message name="BOOZ2_GUIDANCE" period=".25"/> -->
<message name="BOOZ2_GYRO" period=".05"/> <message name="BOOZ2_GYRO" period=".075"/>
<message name="BOOZ2_ACCEL" period=".05"/> <message name="BOOZ2_ACCEL" period=".075"/>
<message name="BOOZ2_MAG" period=".05"/> <message name="BOOZ2_MAG" period=".1"/>
<!-- <message name="IMU_ACCEL_RAW" period=".05"/> --> <!-- <message name="IMU_ACCEL_RAW" period=".05"/> -->
<!-- <message name="IMU_GYRO_RAW" period=".1"/> --> <!-- <message name="IMU_GYRO_RAW" period=".1"/> -->
@@ -30,9 +30,51 @@
<message name="ALIVE" period="2.1"/> <message name="ALIVE" period="2.1"/>
</mode> </mode>
<mode name="debug"> <mode name="raw_sensors">
<message name="DL_VALUE" period=".5"/> <message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="IMU_ACCEL_RAW" period=".05"/>
<message name="IMU_GYRO_RAW" period=".05"/>
<message name="IMU_MAG_RAW" period=".05"/>
</mode> </mode>
<mode name="scaled_sensors">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="BOOZ2_GYRO" period=".075"/>
<message name="BOOZ2_ACCEL" period=".075"/>
<message name="BOOZ2_MAG" period=".1"/>
</mode>
<mode name="filter">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<!-- <message name="BOOZ2_ALIGNER" period=".1"/> -->
<message name="BOOZ2_FILTER" period=".02"/>
</mode>
<mode name="rate_loop">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="BOOZ2_RATE_LOOP" period=".02"/>
</mode>
<mode name="attitude_loop">
<message name="BOOZ_STATUS" period="1.2"/>
<message name="DL_VALUE" period="0.5"/>
<message name="ALIVE" period="2.1"/>
<message name="BOOZ2_STAB_ATTITUDE" period=".02"/>
<message name="BOOZ2_STAB_ATTITUDE_REF" period=".02"/>
</mode>
</process> </process>
sw/in_progress/inertial/scilab/calibrate_mag.sce
+11 -13
View File
@@ -1,9 +1,10 @@
clear(); clear();
exec("calibration_utils.sci"); exec("calibration_utils.sci");
[raw_mag, raw_accel] = read_log("log_calib_accel_mag_2.dat"); [raw_mag, raw_accel] = read_log("log_calib_mag_3.dat");
[fraw_mag] = filter_noise(raw_mag,15,300); //[fraw_mag] = filter_noise(raw_mag,15,300);
fraw_mag = raw_mag;
n0 = [ 1950; 2000; 2150]; n0 = [ 1950; 2000; 2150];
@@ -36,26 +37,23 @@ subplot(4,1,1);
plot2d(1:nc, raw_mag(1,:), 1); plot2d(1:nc, raw_mag(1,:), 1);
plot2d(1:nc, raw_mag(2,:), 2); plot2d(1:nc, raw_mag(2,:), 2);
plot2d(1:nc, raw_mag(3,:), 3); plot2d(1:nc, raw_mag(3,:), 3);
xtitle('raw senors');
subplot(4,1,2); subplot(4,1,2);
[nl, nc] = size(fraw_mag); [nl, nc] = size(fraw_mag);
plot2d(1:nc, fraw_mag(1,:), 1);
plot2d(1:nc, fraw_mag(2,:), 2);
plot2d(1:nc, fraw_mag(3,:), 3);
subplot(4,1,3);
plot2d(1:nc, scaled_mag(1,:), 1); plot2d(1:nc, scaled_mag(1,:), 1);
plot2d(1:nc, scaled_mag(2,:), 2); plot2d(1:nc, scaled_mag(2,:), 2);
plot2d(1:nc, scaled_mag(3,:), 3); plot2d(1:nc, scaled_mag(3,:), 3);
xtitle('scaled sensors initial guess');
plot2d(1:nc, scaled_mag2(1,:), 4); subplot(4,1,3);
plot2d(1:nc, scaled_mag2(2,:), 5); plot2d(1:nc, scaled_mag2(1,:), 1);
plot2d(1:nc, scaled_mag2(3,:), 6); plot2d(1:nc, scaled_mag2(2,:), 2);
plot2d(1:nc, scaled_mag2(3,:), 3);
xtitle('scaled sensors optimised');
subplot(4,1,4); subplot(4,1,4);
plot2d(1:nc, scaled_module, 1); plot2d(1:nc, scaled_module, 1);
subplot(4,1,4); subplot(4,1,4);
plot2d(1:nc, scaled_module2, 2); plot2d(1:nc, scaled_module2, 2);
xtitle('norm');
sw/in_progress/inertial/scilab/calibration_utils.sci
+2 -2
View File
@@ -8,7 +8,7 @@ function [raw_mag, raw_accel] = read_log(filename)
while meof(u) == 0, while meof(u) == 0,
line = mgetl(u, 1); line = mgetl(u, 1);
if strindex(line, '#') ~= 1 & length(line) ~= 0, if strindex(line, '#') ~= 1 & length(line) ~= 0,
[nb_scan, _time, _mz, _my, _mx] = msscanf(1, line, '%f 149 IMU_MAG_RAW %f %f %f'); [nb_scan, _time, _mx, _my, _mz] = msscanf(1, line, '%f 149 IMU_MAG_RAW %f %f %f');
if nb_scan == 4, if nb_scan == 4,
raw_mag = [raw_mag [_mx _my _mz]']; raw_mag = [raw_mag [_mx _my _mz]'];
else else
@@ -46,7 +46,7 @@ endfunction
function [scaled_sensor] = scale_sensor(raw_sensor, g, n) function [scaled_sensor] = scale_sensor(raw_sensor, g, n)
[nl, nc] = size(raw_sensor); [nl, nc] = size(raw_sensor);
scale_sensor = zeros(nl, nc); scaled_sensor = zeros(nl, nc);
for i=1:nc for i=1:nc
scaled_sensor(:,i) = g .* (raw_sensor(:,i) - n); scaled_sensor(:,i) = g .* (raw_sensor(:,i) - n);