*** empty log message ***

sw/in_progress/barometer/baro_ekf.sce

@@ -7,7 +7,6 @@
 
 clear();
 getf('baro_utils.sci');
-getf('ekf.sci');
 
 filename = "data/07_08_02__14_57_30.data";
 //filename = "data/07_08_02__15_19_47.data";
@@ -52,7 +51,7 @@ for idx_p=(end_pressure+1):length(time_pressure)
         0   1.       ];
   // process covariance noise
   Q = [ 1e-4   0.
-        0.   1e-6 ];
+        0.   1e-7 ];
   P1 = F*P0*F' + Q;
   
   // update

sw/in_progress/barometer/baro_ekf2.sce

@@ -1,92 +0,0 @@
-//
-// X = [ z a ]
-//
-//
-
-
-clear();
-getf('baro_utils.sci');
-getf('ekf.sci');
-
-filename = "data/07_07_26__16_37_09.baro.txt";
-[time, gps_alt, pressure, gps_climb, temp] = baro_read_log(filename);
-
-do_predict = 1;
-do_update = 1;
-dt = (time(length(time)) - time(1)) / length(time)
-
-//
-// Initialisation
-//
-[pres0, alt0, a, b] = filter_init(10, pressure, gps_alt)
-
-X0 = [ alt0; a];
-
-P0 = [ 1.  0.
-       0.  2. ];
-
-X = [X0];
-P = [P0];
-   
-//
-// Iterations
-//
-for i=2:length(gps_alt)
-
-  // prediction
-  // initial state
-  X0 = X(:, i-1);
-  // initial covariance
-  P0 = baro_get_P(P, i-1);
-  // command
-  delta_p = pressure(i) - pressure(i-1);
-  delta_z = X0(2) * delta_p;
-  X1 = X0 + [delta_z; 0];
-  // jacobian
-  F = [ 1.  delta_p
-        0   1.       ];
-  // process covariance noise
-//  Q = [ 1.   0.
-//        0.   0.1 ];
-  Q = [ .0001   0.
-        0.   0.0000001 ];
-  P1 = F*P0*F' + Q;
-
-  
-  // update
-  err = gps_alt(i) - X1(1);
-  H = [1 0];
-  R = 10;
-  E = H * P1 * H' + R;
-  K = P1 * H' * inv(E);
-  P2 = P1 - K * H * P1;
-  X2 = X1 + K * err;
-  
-  X = [X X2];
-  P = [P P2];
-
-  
-end
-   
-   
-   
-//
-// Display
-//
-xbasc();
-subplot(3,1,1)
-xtitle('altitude');
-plot2d([time; time]', [gps_alt; X(1,:)]', style=[5, 3],  leg="gps@estimate");
-subplot(3,1,2)
-xtitle('a');
-plot2d([time]', [X(2,:)]', style=[5], leg="a");
-subplot(3,1,3)
-xtitle('covariance');
-P11 = [];
-P22 = [];
-for i=1:length(time)
-  Pi = baro_get_P(P, i);
-  P11 = [P11 Pi(1,1)];
-  P22 = [P22 Pi(2,2)];
-end
-plot2d([time; time]', [P11; P22]', style=[5 3 2], leg="Pz@Pa");

sw/in_progress/barometer/baro_utils.sci

@@ -180,3 +180,9 @@ function [Pi] = baro_get_P(P, i)
 
 endfunction
 
+function [Pi] = baro_get_P3(P, i)
+  
+  Pi = P(:, 3*i-2:3*i);
+
+endfunction
+