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Merge pull request #300 from nicolaerosia/ekf2-dt

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sensor_combined stores deltas in usec instead of seconds
This commit is contained in:
Paul Riseborough
2017-07-17 07:25:27 +10:00
committed by GitHub
parent e2a5e57e14 5277141166
commit 18e81eba31
1 changed files with 2 additions and 2 deletions
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matlab/EKF_replay/Common/convert_px4_sensor_combined_csv_data.m
+2 -2
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@@ -19,10 +19,10 @@ end
clear imu_data;
n_samples = length(timestamp);
imu_data.time_us = timestamp + accelerometer_timestamp_relative;
imu_data.gyro_dt = gyro_integral_dt;
imu_data.gyro_dt = gyro_integral_dt ./ 1e6;
imu_data.del_ang = [gyro_rad0.*imu_data.gyro_dt, gyro_rad1.*imu_data.gyro_dt, gyro_rad2.*imu_data.gyro_dt];
imu_data.accel_dt = accelerometer_integral_dt;
imu_data.accel_dt = accelerometer_integral_dt ./ 1e6;
imu_data.del_vel = [accelerometer_m_s20.*imu_data.accel_dt, accelerometer_m_s21.*imu_data.accel_dt, accelerometer_m_s22.*imu_data.accel_dt];
%% convert magnetomer data