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ekf2: estimator aid source status (GPS pos, GPS vel)
This commit is contained in:
Daniel Agar
@@ -866,6 +866,8 @@ void printTopics() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
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@@ -19,3 +19,4 @@ bool[3] innovation_rejected # true if the observation has been rejected
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bool[3] fused # true if the sample was successfully fused
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# TOPICS estimator_aid_source_3d
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# TOPICS estimator_aid_src_gnss_pos estimator_aid_src_gnss_vel
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@@ -16,6 +16,10 @@ bool starting_vision_pos_fusion # 9 - true when the filter starts using
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bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
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bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
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bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
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bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
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bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
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bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
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bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
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# warning events
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uint32 warning_event_changes # number of warning event changes
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@@ -550,6 +550,10 @@ union information_event_status_u {
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bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
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bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
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bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
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bool reset_hgt_to_baro : 1; ///< 13 - true when the vertical position state is reset to the baro measurement
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bool reset_hgt_to_gps : 1; ///< 14 - true when the vertical position state is reset to the gps measurement
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bool reset_hgt_to_rng : 1; ///< 15 - true when the vertical position state is reset to the rng measurement
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bool reset_hgt_to_ev : 1; ///< 16 - true when the vertical position state is reset to the ev measurement
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} flags;
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uint32_t value;
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};
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@@ -778,6 +778,24 @@ void Ekf::checkVerticalAccelerationHealth()
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bool is_inertial_nav_falling = false;
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bool are_vertical_pos_and_vel_independant = false;
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if (_control_status.flags.gps) {
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// velocity
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auto &gps_vel = _aid_src_gnss_vel;
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if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
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_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
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_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
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}
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// position
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auto &gps_pos = _aid_src_gnss_pos;
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if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
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_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
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_vert_pos_innov_ratio = gps_pos.innovation[2] / sqrtf(gps_pos.innovation_variance[2]);
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}
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}
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if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
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if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
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// If vertical position and velocity come from independent sensors then we can
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@@ -930,11 +948,7 @@ void Ekf::controlHeightFusion()
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}
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} else if (_control_status.flags.gps_hgt) {
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if (_gps_data_ready) {
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fuseGpsHgt();
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}
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// handled by gps fusion
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} else if (_control_status.flags.rng_hgt) {
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if (_range_sensor.isDataHealthy()) {
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@@ -984,13 +984,24 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
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const float down_dvel_bias = _state.delta_vel_bias.dot(Vector3f(_R_to_earth.row(2)));
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// check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation
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bool bad_acc_bias = (fabsf(down_dvel_bias) > dVel_bias_lim
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&& ((down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
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|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel))
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&& ((down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
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|| (down_dvel_bias * _baro_hgt_innov < 0.0f && _control_status.flags.baro_hgt)
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|| (down_dvel_bias * _rng_hgt_innov < 0.0f && _control_status.flags.rng_hgt)
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|| (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt)));
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bool bad_acc_bias = false;
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if (fabsf(down_dvel_bias) > dVel_bias_lim) {
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bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f);
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bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
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if (bad_vz_gps || bad_vz_ev) {
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bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
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bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
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bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _rng_hgt_innov < 0.0f);
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bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);
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if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) {
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bad_acc_bias = true;
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}
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}
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}
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// record the pass/fail
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if (!bad_acc_bias) {
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@@ -340,6 +340,9 @@ public:
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const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
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const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
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const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
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const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
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private:
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@@ -443,12 +446,6 @@ private:
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float _vert_vel_innov_ratio{0.f}; ///< standard deviation of vertical velocity innovation
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uint64_t _vert_vel_fuse_time_us{0}; ///< last system time in usec time vertical velocity measurement fuson was attempted
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Vector3f _gps_vel_innov{}; ///< GPS velocity innovations (m/sec)
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Vector3f _gps_vel_innov_var{}; ///< GPS velocity innovation variances ((m/sec)**2)
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Vector3f _gps_pos_innov{}; ///< GPS position innovations (m)
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Vector3f _gps_pos_innov_var{}; ///< GPS position innovation variances (m**2)
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Vector3f _ev_vel_innov{}; ///< external vision velocity innovations (m/sec)
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Vector3f _ev_vel_innov_var{}; ///< external vision velocity innovation variances ((m/sec)**2)
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@@ -496,6 +493,9 @@ private:
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bool _inhibit_flow_use{false}; ///< true when use of optical flow and range finder is being inhibited
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Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
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estimator_aid_source_3d_s _aid_src_gnss_vel{};
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estimator_aid_source_3d_s _aid_src_gnss_pos{};
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estimator_aid_source_2d_s _aid_src_fake_pos{};
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// output predictor states
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@@ -528,8 +528,12 @@ private:
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// Variables used to perform in flight resets and switch between height sources
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AlphaFilter<Vector3f> _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss)
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float _hgt_sensor_offset{0.0f}; ///< set as necessary if desired to maintain the same height after a height reset (m)
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float _baro_hgt_offset{0.0f}; ///< baro height reading at the local NED origin (m)
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float _gps_hgt_offset{0.0f}; ///< GPS height reading at the local NED origin (m)
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float _rng_hgt_offset{0.0f}; ///< Range height reading at the local NED origin (m)
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float _ev_hgt_offset{0.0f}; ///< EV height reading at the local NED origin (m)
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float _baro_hgt_bias{0.0f};
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float _baro_hgt_bias_var{1.f};
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@@ -641,7 +645,6 @@ private:
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void fuseDrag(const dragSample &drag_sample);
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void fuseBaroHgt();
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void fuseGpsHgt();
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void fuseRngHgt();
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void fuseEvHgt();
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@@ -688,7 +691,11 @@ private:
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bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
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float &innov_var, float &test_ratio);
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void fuseGpsVelPos();
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void updateGpsVel(const gpsSample &gps_sample);
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void fuseGpsVel();
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void updateGpsPos(const gpsSample &gps_sample);
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void fuseGpsPos();
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// calculate optical flow body angular rate compensation
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// returns false if bias corrected body rate data is unavailable
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@@ -241,7 +241,10 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos)
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void Ekf::resetHeightToBaro()
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{
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resetVerticalPositionTo(-_baro_sample_delayed.hgt + _baro_hgt_offset);
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ECL_INFO("reset height to baro");
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_information_events.flags.reset_hgt_to_baro = true;
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resetVerticalPositionTo(-(_baro_sample_delayed.hgt - _baro_hgt_offset));
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));
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@@ -249,6 +252,9 @@ void Ekf::resetHeightToBaro()
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void Ekf::resetHeightToGps()
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{
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ECL_INFO("reset height to GPS");
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_information_events.flags.reset_hgt_to_gps = true;
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const float z_pos_before_reset = _state.pos(2);
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resetVerticalPositionTo(-_gps_sample_delayed.hgt + _gps_alt_ref);
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@@ -261,6 +267,9 @@ void Ekf::resetHeightToGps()
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void Ekf::resetHeightToRng()
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{
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ECL_INFO("reset height to RNG");
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_information_events.flags.reset_hgt_to_rng = true;
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float dist_bottom;
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if (_control_status.flags.in_air) {
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@@ -273,7 +282,7 @@ void Ekf::resetHeightToRng()
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// update the state and associated variance
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const float z_pos_before_reset = _state.pos(2);
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resetVerticalPositionTo(-dist_bottom + _hgt_sensor_offset);
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resetVerticalPositionTo(-dist_bottom + _rng_hgt_offset);
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
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@@ -284,6 +293,9 @@ void Ekf::resetHeightToRng()
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void Ekf::resetHeightToEv()
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{
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ECL_INFO("reset height to EV");
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_information_events.flags.reset_hgt_to_ev = true;
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const float z_pos_before_reset = _state.pos(2);
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resetVerticalPositionTo(_ev_sample_delayed.pos(2));
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@@ -352,7 +364,8 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
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}
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// check for excessive horizontal GPS velocity innovations
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const bool badVelInnov = (_gps_vel_test_ratio(0) > 1.0f) && _control_status.flags.gps;
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const float gps_vel_test_ratio = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]);
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const bool badVelInnov = (gps_vel_test_ratio > 1.0f) && _control_status.flags.gps;
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// calculate GPS course over ground angle
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const float gpsCOG = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
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@@ -593,30 +606,33 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const
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void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
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{
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hvel[0] = _gps_vel_innov(0);
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hvel[1] = _gps_vel_innov(1);
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vvel = _gps_vel_innov(2);
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hpos[0] = _gps_pos_innov(0);
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hpos[1] = _gps_pos_innov(1);
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vpos = _gps_pos_innov(2);
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hvel[0] = _aid_src_gnss_vel.innovation[0];
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hvel[1] = _aid_src_gnss_vel.innovation[1];
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vvel = _aid_src_gnss_vel.innovation[2];
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hpos[0] = _aid_src_gnss_pos.innovation[0];
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hpos[1] = _aid_src_gnss_pos.innovation[1];
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vpos = _aid_src_gnss_pos.innovation[2];
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}
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void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const
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{
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hvel[0] = _gps_vel_innov_var(0);
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hvel[1] = _gps_vel_innov_var(1);
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vvel = _gps_vel_innov_var(2);
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hpos[0] = _gps_pos_innov_var(0);
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hpos[1] = _gps_pos_innov_var(1);
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vpos = _gps_pos_innov_var(2);
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hvel[0] = _aid_src_gnss_vel.innovation_variance[0];
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hvel[1] = _aid_src_gnss_vel.innovation_variance[1];
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vvel = _aid_src_gnss_vel.innovation_variance[2];
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hpos[0] = _aid_src_gnss_pos.innovation_variance[0];
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hpos[1] = _aid_src_gnss_pos.innovation_variance[1];
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vpos = _aid_src_gnss_pos.innovation_variance[2];
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}
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void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const
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{
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hvel = _gps_vel_test_ratio(0);
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vvel = _gps_vel_test_ratio(1);
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hpos = _gps_pos_test_ratio(0);
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vpos = _gps_pos_test_ratio(1);
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hvel = fmaxf(_aid_src_gnss_vel.test_ratio[0], _aid_src_gnss_vel.test_ratio[1]);
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vvel = _aid_src_gnss_vel.test_ratio[2];
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hpos = fmaxf(_aid_src_gnss_pos.test_ratio[0], _aid_src_gnss_pos.test_ratio[1]);
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vpos = _aid_src_gnss_pos.test_ratio[2];
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}
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void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
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@@ -728,7 +744,7 @@ void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
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// and using state variances for accuracy reporting is overly optimistic in these situations
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if (_control_status.flags.inertial_dead_reckoning) {
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if (_control_status.flags.gps) {
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hpos_err = math::max(hpos_err, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
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hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
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}
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if (_control_status.flags.ev_pos) {
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@@ -750,7 +766,7 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
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// The reason is that complete rejection of measurements is often caused by heading misalignment or inertial sensing errors
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// and using state variances for accuracy reporting is overly optimistic in these situations
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if (_deadreckon_time_exceeded && _control_status.flags.gps) {
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hpos_err = math::max(hpos_err, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
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hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
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}
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*ekf_eph = hpos_err;
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@@ -774,7 +790,7 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
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}
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if (_control_status.flags.gps) {
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vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_gps_pos_innov(0)) + sq(_gps_pos_innov(1))));
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vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_gnss_pos.innovation).norm());
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} else if (_control_status.flags.ev_pos) {
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vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_ev_pos_innov(0)) + sq(_ev_pos_innov(1))));
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@@ -901,10 +917,10 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
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pos = NAN;
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if (_control_status.flags.gps) {
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float gps_vel = sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1)));
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float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max());
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vel = math::max(gps_vel, FLT_MIN);
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float gps_pos = sqrtf(_gps_pos_test_ratio(0));
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float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max());
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pos = math::max(gps_pos, FLT_MIN);
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}
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|
||||
@@ -928,7 +944,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
|
||||
hgt = math::max(sqrtf(_baro_hgt_test_ratio), FLT_MIN);
|
||||
|
||||
} else if (_control_status.flags.gps_hgt) {
|
||||
hgt = math::max(sqrtf(_gps_pos_test_ratio(1)), FLT_MIN);
|
||||
hgt = math::max(sqrtf(_aid_src_gnss_pos.test_ratio[2]), FLT_MIN);
|
||||
|
||||
} else if (_control_status.flags.rng_hgt) {
|
||||
hgt = math::max(sqrtf(_rng_hgt_test_ratio), FLT_MIN);
|
||||
@@ -965,8 +981,8 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
|
||||
soln_status.flags.const_pos_mode = !soln_status.flags.velocity_horiz;
|
||||
soln_status.flags.pred_pos_horiz_rel = soln_status.flags.pos_horiz_rel;
|
||||
soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_horiz_abs;
|
||||
const bool gps_vel_innov_bad = (_gps_vel_test_ratio(0) > 1.0f) || (_gps_vel_test_ratio(1) > 1.0f);
|
||||
const bool gps_pos_innov_bad = (_gps_pos_test_ratio(0) > 1.0f);
|
||||
const bool gps_vel_innov_bad = Vector3f(_aid_src_gnss_vel.test_ratio).max() > 1.f;
|
||||
const bool gps_pos_innov_bad = Vector2f(_aid_src_gnss_pos.test_ratio).max() > 1.f;
|
||||
const bool mag_innov_good = (_mag_test_ratio.max() < 1.0f) && (_yaw_test_ratio < 1.0f);
|
||||
soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad) && mag_innov_good;
|
||||
soln_status.flags.accel_error = _fault_status.flags.bad_acc_vertical;
|
||||
@@ -1000,6 +1016,7 @@ void Ekf::update_deadreckoning_status()
|
||||
|| isRecent(_time_last_hor_vel_fuse, _params.no_aid_timeout_max));
|
||||
|
||||
const bool optFlowAiding = _control_status.flags.opt_flow && isRecent(_time_last_of_fuse, _params.no_aid_timeout_max);
|
||||
|
||||
const bool airDataAiding = _control_status.flags.wind &&
|
||||
isRecent(_time_last_arsp_fuse, _params.no_aid_timeout_max) &&
|
||||
isRecent(_time_last_beta_fuse, _params.no_aid_timeout_max);
|
||||
@@ -1254,7 +1271,8 @@ void Ekf::startBaroHgtFusion()
|
||||
|
||||
// We don't need to set a height sensor offset
|
||||
// since we track a separate _baro_hgt_offset
|
||||
_hgt_sensor_offset = 0.0f;
|
||||
|
||||
ECL_INFO("starting baro height fusion");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1262,17 +1280,19 @@ void Ekf::startGpsHgtFusion()
|
||||
{
|
||||
if (!_control_status.flags.gps_hgt) {
|
||||
if (_control_status.flags.rng_hgt) {
|
||||
// swith out of range aid
|
||||
// switch out of range aid
|
||||
// calculate height sensor offset such that current
|
||||
// measurement matches our current height estimate
|
||||
_hgt_sensor_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
|
||||
_gps_hgt_offset = (_gps_sample_delayed.hgt - _gps_alt_ref) + _state.pos(2);
|
||||
|
||||
} else {
|
||||
_hgt_sensor_offset = 0.f;
|
||||
_gps_hgt_offset = 0.f;
|
||||
resetHeightToGps();
|
||||
}
|
||||
|
||||
setControlGPSHeight();
|
||||
|
||||
ECL_INFO("starting GPS height fusion");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1283,12 +1303,14 @@ void Ekf::startRngHgtFusion()
|
||||
|
||||
// Range finder is the primary height source, the ground is now the datum used
|
||||
// to compute the local vertical position
|
||||
_hgt_sensor_offset = 0.f;
|
||||
_rng_hgt_offset = 0.f;
|
||||
|
||||
if (!_control_status_prev.flags.ev_hgt) {
|
||||
// EV and range finders are using the same height datum
|
||||
resetHeightToRng();
|
||||
}
|
||||
|
||||
ECL_INFO("starting RNG height fusion");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1299,7 +1321,9 @@ void Ekf::startRngAidHgtFusion()
|
||||
|
||||
// calculate height sensor offset such that current
|
||||
// measurement matches our current height estimate
|
||||
_hgt_sensor_offset = _terrain_vpos;
|
||||
_rng_hgt_offset = _terrain_vpos;
|
||||
|
||||
ECL_INFO("starting RNG aid height fusion");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1312,6 +1336,8 @@ void Ekf::startEvHgtFusion()
|
||||
// EV and range finders are using the same height datum
|
||||
resetHeightToEv();
|
||||
}
|
||||
|
||||
ECL_INFO("starting EV height fusion");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1557,6 +1583,8 @@ void Ekf::stopGpsFusion()
|
||||
if (_control_status.flags.gps) {
|
||||
stopGpsPosFusion();
|
||||
stopGpsVelFusion();
|
||||
|
||||
_control_status.flags.gps = false;
|
||||
}
|
||||
|
||||
if (_control_status.flags.gps_yaw) {
|
||||
@@ -1570,27 +1598,27 @@ void Ekf::stopGpsFusion()
|
||||
|
||||
void Ekf::stopGpsPosFusion()
|
||||
{
|
||||
_control_status.flags.gps = false;
|
||||
ECL_INFO("stopping GPS position fusion");
|
||||
|
||||
if (_control_status.flags.gps_hgt) {
|
||||
ECL_INFO("stopping GPS height fusion");
|
||||
startBaroHgtFusion();
|
||||
}
|
||||
|
||||
_gps_pos_innov.setZero();
|
||||
_gps_pos_innov_var.setZero();
|
||||
_gps_pos_test_ratio.setZero();
|
||||
resetEstimatorAidStatus(_aid_src_gnss_pos);
|
||||
}
|
||||
|
||||
void Ekf::stopGpsVelFusion()
|
||||
{
|
||||
_gps_vel_innov.setZero();
|
||||
_gps_vel_innov_var.setZero();
|
||||
_gps_vel_test_ratio.setZero();
|
||||
ECL_INFO("stopping GPS velocity fusion");
|
||||
|
||||
resetEstimatorAidStatus(_aid_src_gnss_vel);
|
||||
}
|
||||
|
||||
void Ekf::startGpsYawFusion()
|
||||
{
|
||||
if (resetYawToGps()) {
|
||||
if (!_control_status.flags.gps_yaw && resetYawToGps()) {
|
||||
ECL_INFO("starting GPS yaw fusion");
|
||||
_control_status.flags.yaw_align = true;
|
||||
_control_status.flags.mag_dec = false;
|
||||
stopEvYawFusion();
|
||||
@@ -1598,12 +1626,14 @@ void Ekf::startGpsYawFusion()
|
||||
stopMag3DFusion();
|
||||
_control_status.flags.gps_yaw = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void Ekf::stopGpsYawFusion()
|
||||
{
|
||||
_control_status.flags.gps_yaw = false;
|
||||
if (_control_status.flags.gps_yaw) {
|
||||
ECL_INFO("stopping GPS yaw fusion");
|
||||
_control_status.flags.gps_yaw = false;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::startEvPosFusion()
|
||||
|
||||
@@ -329,10 +329,8 @@ protected:
|
||||
|
||||
// innovation consistency check monitoring ratios
|
||||
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
|
||||
AlphaFilter<float>_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
|
||||
AlphaFilter<float> _yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
|
||||
Vector3f _mag_test_ratio{}; // magnetometer XYZ innovation consistency check ratios
|
||||
Vector2f _gps_vel_test_ratio{}; // GPS velocity innovation consistency check ratios
|
||||
Vector2f _gps_pos_test_ratio{}; // GPS position innovation consistency check ratios
|
||||
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
|
||||
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
|
||||
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
|
||||
|
||||
@@ -48,6 +48,14 @@ void Ekf::controlGpsFusion()
|
||||
|
||||
// Check for new GPS data that has fallen behind the fusion time horizon
|
||||
if (_gps_data_ready) {
|
||||
|
||||
// reset flags
|
||||
resetEstimatorAidStatusFlags(_aid_src_gnss_vel);
|
||||
resetEstimatorAidStatusFlags(_aid_src_gnss_pos);
|
||||
|
||||
updateGpsVel(_gps_sample_delayed);
|
||||
updateGpsPos(_gps_sample_delayed);
|
||||
|
||||
const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
|
||||
const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
|
||||
|
||||
@@ -67,7 +75,8 @@ void Ekf::controlGpsFusion()
|
||||
if (continuing_conditions_passing
|
||||
|| !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
|
||||
fuseGpsVelPos();
|
||||
fuseGpsVel();
|
||||
fuseGpsPos();
|
||||
|
||||
if (shouldResetGpsFusion()) {
|
||||
const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000);
|
||||
|
||||
@@ -39,39 +39,145 @@
|
||||
/* #include <mathlib/mathlib.h> */
|
||||
#include "ekf.h"
|
||||
|
||||
void Ekf::fuseGpsVelPos()
|
||||
void Ekf::updateGpsVel(const gpsSample &gps_sample)
|
||||
{
|
||||
Vector3f gps_pos_obs_var;
|
||||
const float vel_var = sq(gps_sample.sacc);
|
||||
const Vector3f obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
|
||||
|
||||
// innovation gate size
|
||||
const float innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
|
||||
|
||||
auto &gps_vel = _aid_src_gnss_vel;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
gps_vel.observation[i] = gps_sample.vel(i);
|
||||
gps_vel.observation_variance[i] = obs_var(i);
|
||||
|
||||
gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
|
||||
gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
|
||||
gps_vel.test_ratio[i] = sq(gps_vel.innovation[i]) / (sq(innov_gate) * gps_vel.innovation_variance[i]);
|
||||
|
||||
gps_vel.innovation_rejected[i] = (gps_vel.test_ratio[i] > 1.f);
|
||||
}
|
||||
|
||||
// vz special case if there is bad vertical acceleration data, then don't reject measurement,
|
||||
// but limit innovation to prevent spikes that could destabilise the filter
|
||||
if (_fault_status.flags.bad_acc_vertical && gps_vel.innovation_rejected[2]) {
|
||||
const float innov_limit = innov_gate * sqrtf(gps_vel.innovation_variance[2]);
|
||||
gps_vel.innovation[2] = math::constrain(gps_vel.innovation[2], -innov_limit, innov_limit);
|
||||
gps_vel.innovation_rejected[2] = false;
|
||||
}
|
||||
|
||||
gps_vel.timestamp_sample = gps_sample.time_us;
|
||||
}
|
||||
|
||||
void Ekf::updateGpsPos(const gpsSample &gps_sample)
|
||||
{
|
||||
Vector3f position;
|
||||
position(0) = gps_sample.pos(0);
|
||||
position(1) = gps_sample.pos(1);
|
||||
|
||||
// vertical position - gps measurement has opposite sign to earth z axis
|
||||
position(2) = -(gps_sample.hgt - _gps_alt_ref - _gps_hgt_offset);
|
||||
|
||||
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
|
||||
|
||||
Vector3f obs_var;
|
||||
|
||||
if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
// if we are using other sources of aiding, then relax the upper observation
|
||||
// noise limit which prevents bad GPS perturbing the position estimate
|
||||
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(fmaxf(_gps_sample_delayed.hacc, lower_limit));
|
||||
obs_var(0) = obs_var(1) = sq(fmaxf(gps_sample.hacc, lower_limit));
|
||||
|
||||
} else {
|
||||
// if we are not using another source of aiding, then we are reliant on the GPS
|
||||
// observations to constrain attitude errors and must limit the observation noise value.
|
||||
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
|
||||
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
|
||||
obs_var(0) = obs_var(1) = sq(math::constrain(gps_sample.hacc, lower_limit, upper_limit));
|
||||
}
|
||||
|
||||
obs_var(2) = getGpsHeightVariance();
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
|
||||
|
||||
const float vel_var = sq(_gps_sample_delayed.sacc);
|
||||
const Vector3f gps_vel_obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
|
||||
auto &gps_pos = _aid_src_gnss_pos;
|
||||
|
||||
// calculate innovations
|
||||
_gps_vel_innov = _state.vel - _gps_sample_delayed.vel;
|
||||
_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
|
||||
for (int i = 0; i < 3; i++) {
|
||||
gps_pos.observation[i] = position(i);
|
||||
gps_pos.observation_variance[i] = obs_var(i);
|
||||
|
||||
// set innovation gate size
|
||||
const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
|
||||
const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
|
||||
gps_pos.innovation[i] = _state.pos(i) - position(i);
|
||||
gps_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
|
||||
gps_pos.test_ratio[i] = sq(gps_pos.innovation[i]) / (sq(innov_gate) * gps_pos.innovation_variance[i]);
|
||||
|
||||
// fuse GPS measurement
|
||||
fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
|
||||
fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
|
||||
fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
|
||||
gps_pos.innovation_rejected[i] = (gps_pos.test_ratio[i] > 1.f);
|
||||
}
|
||||
|
||||
// z special case if there is bad vertical acceleration data, then don't reject measurement,
|
||||
// but limit innovation to prevent spikes that could destabilise the filter
|
||||
if (_fault_status.flags.bad_acc_vertical && gps_pos.innovation_rejected[2]) {
|
||||
const float innov_limit = innov_gate * sqrtf(gps_pos.innovation_variance[2]);
|
||||
gps_pos.innovation[2] = math::constrain(gps_pos.innovation[2], -innov_limit, innov_limit);
|
||||
gps_pos.innovation_rejected[2] = false;
|
||||
}
|
||||
|
||||
gps_pos.timestamp_sample = gps_sample.time_us;
|
||||
}
|
||||
|
||||
void Ekf::fuseGpsVel()
|
||||
{
|
||||
// velocity
|
||||
auto &gps_vel = _aid_src_gnss_vel;
|
||||
|
||||
// vx & vy
|
||||
gps_vel.fusion_enabled[0] = true;
|
||||
gps_vel.fusion_enabled[1] = true;
|
||||
|
||||
if (!gps_vel.innovation_rejected[0] && !gps_vel.innovation_rejected[1]) {
|
||||
for (int i = 0; i < 2; i++) {
|
||||
if (fuseVelPosHeight(gps_vel.innovation[i], gps_vel.innovation_variance[i], i)) {
|
||||
gps_vel.fused[i] = true;
|
||||
gps_vel.time_last_fuse[i] = _time_last_imu;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// vz
|
||||
gps_vel.fusion_enabled[2] = true;
|
||||
|
||||
if (gps_vel.fusion_enabled[2] && !gps_vel.innovation_rejected[2]) {
|
||||
if (fuseVelPosHeight(gps_vel.innovation[2], gps_vel.innovation_variance[2], 2)) {
|
||||
gps_vel.fused[2] = true;
|
||||
gps_vel.time_last_fuse[2] = _time_last_imu;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::fuseGpsPos()
|
||||
{
|
||||
auto &gps_pos = _aid_src_gnss_pos;
|
||||
|
||||
// x & y
|
||||
gps_pos.fusion_enabled[0] = true;
|
||||
gps_pos.fusion_enabled[1] = true;
|
||||
|
||||
if (!gps_pos.innovation_rejected[0] && !gps_pos.innovation_rejected[1]) {
|
||||
for (int i = 0; i < 2; i++) {
|
||||
if (fuseVelPosHeight(gps_pos.innovation[i], gps_pos.innovation_variance[i], 3 + i)) {
|
||||
gps_pos.fused[i] = true;
|
||||
gps_pos.time_last_fuse[i] = _time_last_imu;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// z
|
||||
gps_pos.fusion_enabled[2] = _control_status.flags.gps_hgt;
|
||||
|
||||
if (gps_pos.fusion_enabled[2] && !gps_pos.innovation_rejected[2]) {
|
||||
if (fuseVelPosHeight(gps_pos.innovation[2], gps_pos.innovation_variance[2], 5)) {
|
||||
gps_pos.fused[2] = true;
|
||||
gps_pos.time_last_fuse[2] = _time_last_imu;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -72,26 +72,11 @@ void Ekf::fuseBaroHgt()
|
||||
_baro_hgt_innov_var, _baro_hgt_test_ratio);
|
||||
}
|
||||
|
||||
void Ekf::fuseGpsHgt()
|
||||
{
|
||||
// vertical position innovation - gps measurement has opposite sign to earth z axis
|
||||
_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
|
||||
|
||||
float obs_var = getGpsHeightVariance();
|
||||
|
||||
// _gps_pos_test_ratio(1) is the vertical test ratio
|
||||
fuseVerticalPosition(_gps_pos_innov(2), innov_gate, obs_var,
|
||||
_gps_pos_innov_var(2), _gps_pos_test_ratio(1));
|
||||
}
|
||||
|
||||
void Ekf::fuseRngHgt()
|
||||
{
|
||||
// use range finder with tilt correction
|
||||
_rng_hgt_innov = _state.pos(2) - (-math::max(_range_sensor.getDistBottom(),
|
||||
_params.rng_gnd_clearance)) - _hgt_sensor_offset;
|
||||
_params.rng_gnd_clearance)) - _rng_hgt_offset;
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.range_innov_gate, 1.f);
|
||||
|
||||
@@ -636,6 +636,10 @@ void EKF2::Run()
|
||||
|
||||
void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp)
|
||||
{
|
||||
// GNSS velocity & position
|
||||
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
|
||||
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
|
||||
|
||||
// fake position
|
||||
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
|
||||
}
|
||||
@@ -721,6 +725,10 @@ void EKF2::PublishEventFlags(const hrt_abstime ×tamp)
|
||||
event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion;
|
||||
event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion;
|
||||
event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
|
||||
event_flags.reset_hgt_to_baro = _ekf.information_event_flags().reset_hgt_to_baro;
|
||||
event_flags.reset_hgt_to_gps = _ekf.information_event_flags().reset_hgt_to_gps;
|
||||
event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng;
|
||||
event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev;
|
||||
|
||||
event_flags.warning_event_changes = _filter_warning_event_changes;
|
||||
event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor;
|
||||
|
||||
@@ -255,6 +255,9 @@ private:
|
||||
hrt_abstime _last_sensor_bias_published{0};
|
||||
hrt_abstime _last_gps_status_published{0};
|
||||
|
||||
hrt_abstime _status_gnss_vel_pub_last{0};
|
||||
hrt_abstime _status_gnss_pos_pub_last{0};
|
||||
|
||||
hrt_abstime _status_fake_pos_pub_last{0};
|
||||
|
||||
float _last_baro_bias_published{};
|
||||
@@ -316,6 +319,9 @@ private:
|
||||
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
|
||||
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
|
||||
|
||||
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
|
||||
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
|
||||
|
||||
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
|
||||
|
||||
// publications with topic dependent on multi-mode
|
||||
|
||||
@@ -105,287 +105,287 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
10290000,0.704,0.00193,-0.0134,0.71,-0.0504,0.0315,-0.0832,-0.0697,0.0565,-365,-1.53e-05,-5.74e-05,6.94e-08,-1.73e-05,2.13e-05,-0.000983,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.0005,0.0005,0.000161,1.87,1.87,0.0758,6.51,6.51,0.0847,7.14e-09,7.15e-09,7.21e-09,3.74e-06,3.74e-06,1.35e-06,0,0,0,0,0,0,0,0
|
||||
10390000,0.704,0.00191,-0.0133,0.71,0.00936,-0.0198,0.00845,0.000863,-0.00177,-365,-1.53e-05,-5.74e-05,1.5e-07,-1.8e-05,2.18e-05,-0.00101,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000512,0.000512,0.00016,0.252,0.252,0.25,0.252,0.252,0.0753,7.14e-09,7.15e-09,7.07e-09,3.74e-06,3.74e-06,1.26e-06,0,0,0,0,0,0,0,0
|
||||
10490000,0.704,0.00195,-0.0133,0.71,0.00799,-0.0184,0.0138,0.00171,-0.00366,-365,-1.53e-05,-5.74e-05,-5.75e-07,-1.87e-05,2.24e-05,-0.00105,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000525,0.000525,0.00016,0.258,0.258,0.248,0.259,0.259,0.0714,7.14e-09,7.15e-09,6.92e-09,3.74e-06,3.74e-06,1.19e-06,0,0,0,0,0,0,0,0
|
||||
10590000,0.704,0.00204,-0.0134,0.71,0.00751,-0.00779,0.0178,0.0018,-0.000819,-365,-1.53e-05,-5.72e-05,-4.85e-07,-2.11e-05,2.26e-05,-0.00106,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.00053,0.00053,0.00016,0.132,0.132,0.169,0.13,0.13,0.0672,7.1e-09,7.11e-09,6.77e-09,3.73e-06,3.73e-06,1.14e-06,0,0,0,0,0,0,0,0
|
||||
10690000,0.704,0.00209,-0.0134,0.71,0.00532,-0.00789,0.0199,0.00248,-0.00162,-365,-1.53e-05,-5.72e-05,-7.09e-07,-2.14e-05,2.28e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000543,0.000543,0.00016,0.143,0.143,0.165,0.136,0.136,0.069,7.1e-09,7.11e-09,6.64e-09,3.73e-06,3.73e-06,1.11e-06,0,0,0,0,0,0,0,0
|
||||
10790000,0.704,0.00208,-0.0135,0.71,0.00471,-0.00515,0.017,0.00266,-0.000796,-365,-1.52e-05,-5.71e-05,-5.38e-07,-2.31e-05,2.37e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000533,0.000533,0.000159,0.0994,0.0994,0.123,0.0903,0.0903,0.0656,6.97e-09,6.98e-09,6.49e-09,3.71e-06,3.71e-06,1.08e-06,0,0,0,0,0,0,0,0
|
||||
10890000,0.704,0.00204,-0.0134,0.71,0.00328,-0.0046,0.013,0.00304,-0.00125,-365,-1.52e-05,-5.71e-05,-5.22e-07,-2.31e-05,2.36e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000546,0.000546,0.000159,0.114,0.114,0.117,0.0965,0.0965,0.0674,6.97e-09,6.98e-09,6.34e-09,3.71e-06,3.71e-06,1.06e-06,0,0,0,0,0,0,0,0
|
||||
10990000,0.704,0.00202,-0.0136,0.71,0.00547,0.000285,0.00905,0.00458,-0.00246,-365,-1.47e-05,-5.68e-05,3.06e-07,-2.79e-05,2.81e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000516,0.000515,0.000159,0.0901,0.09,0.0927,0.072,0.072,0.0653,6.73e-09,6.73e-09,6.21e-09,3.68e-06,3.68e-06,1.04e-06,0,0,0,0,0,0,0,0
|
||||
11090000,0.704,0.00202,-0.0135,0.71,0.00392,0.00197,0.0124,0.00506,-0.00239,-365,-1.47e-05,-5.68e-05,1.13e-06,-2.81e-05,2.82e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000528,0.000528,0.000158,0.108,0.108,0.0871,0.0785,0.0785,0.0671,6.73e-09,6.73e-09,6.05e-09,3.68e-06,3.68e-06,1.03e-06,0,0,0,0,0,0,0,0
|
||||
11190000,0.704,0.00195,-0.0137,0.71,0.00838,0.00479,0.00301,0.00644,-0.00312,-365,-1.41e-05,-5.67e-05,5.45e-07,-3.1e-05,3.31e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000479,0.000479,0.000158,0.0888,0.0888,0.0709,0.0621,0.0621,0.0641,6.38e-09,6.39e-09,5.9e-09,3.64e-06,3.64e-06,1.01e-06,0,0,0,0,0,0,0,0
|
||||
11290000,0.704,0.00204,-0.0138,0.71,0.00769,0.00646,0.00233,0.00726,-0.00254,-365,-1.42e-05,-5.67e-05,-4.52e-07,-3.1e-05,3.32e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000491,0.000491,0.000158,0.109,0.109,0.0668,0.0691,0.0691,0.0665,6.38e-09,6.39e-09,5.77e-09,3.64e-06,3.64e-06,1.01e-06,0,0,0,0,0,0,0,0
|
||||
11390000,0.704,0.00209,-0.0136,0.71,0.0037,0.00613,-0.0027,0.00532,-0.00223,-365,-1.45e-05,-5.68e-05,-1.25e-06,-2.84e-05,3.06e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000431,0.000431,0.000158,0.0893,0.0893,0.0559,0.0565,0.0565,0.0636,5.99e-09,5.99e-09,5.62e-09,3.59e-06,3.59e-06,1e-06,0,0,0,0,0,0,0,0
|
||||
11490000,0.704,0.00211,-0.0136,0.71,0.000879,0.00834,-0.00232,0.00556,-0.00151,-365,-1.45e-05,-5.68e-05,-2.77e-06,-2.85e-05,3.07e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000442,0.000442,0.000157,0.109,0.109,0.052,0.064,0.064,0.0645,5.99e-09,5.99e-09,5.47e-09,3.59e-06,3.59e-06,9.94e-07,0,0,0,0,0,0,0,0
|
||||
11590000,0.704,0.00203,-0.0136,0.71,-0.00298,0.00788,-0.00771,0.0043,-0.00159,-365,-1.46e-05,-5.71e-05,-3.09e-06,-2.57e-05,3.07e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.00038,0.00038,0.000158,0.0887,0.0887,0.045,0.0531,0.0531,0.0628,5.58e-09,5.59e-09,5.34e-09,3.56e-06,3.56e-06,9.9e-07,0,0,0,0,0,0,0,0
|
||||
11690000,0.704,0.00201,-0.0136,0.71,-0.00606,0.0105,-0.0121,0.00383,-0.000702,-365,-1.46e-05,-5.71e-05,-3.55e-06,-2.56e-05,3.06e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.00039,0.00039,0.000157,0.108,0.108,0.0421,0.0611,0.0611,0.0632,5.58e-09,5.59e-09,5.2e-09,3.56e-06,3.56e-06,9.86e-07,0,0,0,0,0,0,0,0
|
||||
11790000,0.704,0.00208,-0.0135,0.71,-0.0112,0.0109,-0.0139,0.0017,0.000401,-365,-1.47e-05,-5.7e-05,-3.61e-06,-2.53e-05,2.94e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000334,0.000334,0.000157,0.0865,0.0865,0.0368,0.0512,0.0512,0.0607,5.21e-09,5.22e-09,5.05e-09,3.52e-06,3.53e-06,9.81e-07,0,0,0,0,0,0,0,0
|
||||
11890000,0.704,0.00209,-0.0135,0.71,-0.0129,0.0117,-0.015,0.000506,0.00154,-365,-1.48e-05,-5.7e-05,-4.35e-06,-2.53e-05,2.95e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000343,0.000343,0.000157,0.104,0.104,0.0348,0.0594,0.0594,0.0608,5.21e-09,5.22e-09,4.91e-09,3.52e-06,3.53e-06,9.78e-07,0,0,0,0,0,0,0,0
|
||||
11990000,0.704,0.00211,-0.0135,0.71,-0.0143,0.0121,-0.0201,-0.000443,0.00218,-365,-1.47e-05,-5.71e-05,-4.16e-06,-2.49e-05,3.03e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000296,0.000295,0.000157,0.083,0.083,0.0315,0.05,0.05,0.0594,4.89e-09,4.89e-09,4.79e-09,3.5e-06,3.5e-06,9.73e-07,0,0,0,0,0,0,0,0
|
||||
12090000,0.704,0.00212,-0.0135,0.71,-0.0158,0.0142,-0.0257,-0.00194,0.00348,-365,-1.47e-05,-5.71e-05,-3.44e-06,-2.48e-05,3.02e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000304,0.000304,0.000156,0.0987,0.0986,0.0301,0.0584,0.0584,0.0593,4.89e-09,4.89e-09,4.65e-09,3.5e-06,3.5e-06,9.71e-07,0,0,0,0,0,0,0,0
|
||||
12190000,0.704,0.0018,-0.0136,0.71,-0.00961,0.0118,-0.0208,0.00113,0.00192,-365,-1.4e-05,-5.76e-05,-3.16e-06,-2.29e-05,3.6e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000265,0.000265,0.000156,0.0786,0.0786,0.0276,0.0492,0.0492,0.0572,4.61e-09,4.62e-09,4.52e-09,3.49e-06,3.49e-06,9.63e-07,0,0,0,0,0,0,0,0
|
||||
12290000,0.704,0.00177,-0.0136,0.71,-0.0124,0.0133,-0.0203,3.95e-05,0.00318,-365,-1.4e-05,-5.76e-05,-2.95e-06,-2.29e-05,3.61e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000272,0.000272,0.000156,0.0926,0.0926,0.0272,0.0577,0.0577,0.0578,4.61e-09,4.62e-09,4.4e-09,3.49e-06,3.49e-06,9.61e-07,0,0,0,0,0,0,0,0
|
||||
12390000,0.704,0.00148,-0.0136,0.71,-0.00698,0.0104,-0.0189,0.00257,0.00173,-365,-1.35e-05,-5.81e-05,-3.44e-06,-2.15e-05,4.01e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000241,0.000241,0.000155,0.074,0.074,0.0255,0.0488,0.0488,0.0558,4.38e-09,4.38e-09,4.28e-09,3.48e-06,3.48e-06,9.51e-07,0,0,0,0,0,0,0,0
|
||||
12490000,0.704,0.00146,-0.0136,0.71,-0.0084,0.0123,-0.0219,0.00182,0.00287,-365,-1.35e-05,-5.81e-05,-4.12e-06,-2.15e-05,4.01e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000248,0.000248,0.000155,0.0864,0.0864,0.0253,0.0572,0.0572,0.0556,4.38e-09,4.38e-09,4.15e-09,3.48e-06,3.48e-06,9.48e-07,0,0,0,0,0,0,0,0
|
||||
12590000,0.704,0.00154,-0.0134,0.71,-0.0152,0.0104,-0.0274,-0.00301,0.00158,-365,-1.4e-05,-5.83e-05,-4.04e-06,-1.93e-05,3.79e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000224,0.000224,0.000155,0.0695,0.0695,0.0244,0.0485,0.0485,0.0545,4.17e-09,4.17e-09,4.04e-09,3.47e-06,3.47e-06,9.36e-07,0,0,0,0,0,0,0,0
|
||||
12690000,0.704,0.00158,-0.0134,0.71,-0.0159,0.0118,-0.031,-0.00459,0.0027,-365,-1.4e-05,-5.83e-05,-4.47e-06,-1.93e-05,3.79e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.00023,0.00023,0.000155,0.0804,0.0804,0.0246,0.0568,0.0568,0.0543,4.17e-09,4.17e-09,3.92e-09,3.47e-06,3.47e-06,9.32e-07,0,0,0,0,0,0,0,0
|
||||
12790000,0.704,0.00162,-0.0132,0.71,-0.0207,0.00878,-0.0344,-0.00773,0.00147,-365,-1.43e-05,-5.86e-05,-4.16e-06,-1.8e-05,3.74e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000211,0.000211,0.000154,0.0651,0.0651,0.024,0.0483,0.0483,0.0527,3.99e-09,3.99e-09,3.8e-09,3.47e-06,3.47e-06,9.15e-07,0,0,0,0,0,0,0,0
|
||||
12890000,0.704,0.00158,-0.0132,0.71,-0.0219,0.00867,-0.0335,-0.00986,0.00232,-365,-1.43e-05,-5.86e-05,-3.98e-06,-1.81e-05,3.75e-05,-0.00109,0.209,0.00206,0.432,0,0,0,0,0,0.000159,0.000217,0.000217,0.000154,0.0749,0.0749,0.0247,0.0565,0.0565,0.0532,3.99e-09,3.99e-09,3.7e-09,3.47e-06,3.47e-06,9.12e-07,0,0,0,0,0,0,0,0
|
||||
12990000,0.704,0.00125,-0.0135,0.71,-0.00978,0.00629,-0.0341,-0.00131,0.00132,-365,-1.33e-05,-5.89e-05,-3.14e-06,-1.89e-05,4.05e-05,-0.0011,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000201,0.000201,0.000154,0.0611,0.0611,0.0244,0.0481,0.0481,0.0518,3.82e-09,3.82e-09,3.59e-09,3.47e-06,3.47e-06,8.91e-07,0,0,0,0,0,0,0,0
|
||||
13090000,0.704,0.00126,-0.0134,0.71,-0.0107,0.00645,-0.0343,-0.00233,0.00196,-365,-1.33e-05,-5.89e-05,-3.91e-06,-1.89e-05,4.05e-05,-0.0011,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000207,0.000207,0.000153,0.0699,0.0699,0.0252,0.0561,0.0561,0.0517,3.82e-09,3.82e-09,3.49e-09,3.47e-06,3.47e-06,8.85e-07,0,0,0,0,0,0,0,0
|
||||
13190000,0.704,0.00103,-0.0135,0.71,-0.00159,0.00591,-0.0311,0.00403,0.0013,-365,-1.26e-05,-5.91e-05,-3.82e-06,-1.98e-05,4.17e-05,-0.00112,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000194,0.000194,0.000153,0.0575,0.0575,0.025,0.0479,0.0479,0.0504,3.67e-09,3.67e-09,3.38e-09,3.47e-06,3.47e-06,8.6e-07,0,0,0,0,0,0,0,0
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18590000,0.706,6.86e-05,-0.0123,0.708,0.0129,0.000693,0.00344,0.00333,-0.00108,-365,-1.36e-05,-6.05e-05,5.56e-06,-2.88e-05,6.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000121,0.000121,0.000133,0.0302,0.0302,0.0134,0.0446,0.0446,0.045,4.8e-10,4.81e-10,8e-10,3.13e-06,3.13e-06,7.64e-08,0,0,0,0,0,0,0,0
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18790000,0.706,6.44e-05,-0.0123,0.708,0.0117,0.000295,0.00138,0.00354,-0.000809,-365,-1.38e-05,-6.05e-05,5.27e-06,-2.86e-05,6.54e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000118,0.000118,0.000132,0.0295,0.0295,0.0129,0.0445,0.0445,0.0447,4.36e-10,4.36e-10,7.66e-10,3.12e-06,3.12e-06,7.08e-08,0,0,0,0,0,0,0,0
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18890000,0.706,8.79e-05,-0.0123,0.708,0.0123,0.000805,0.00204,0.00474,-0.00072,-365,-1.37e-05,-6.05e-05,5.67e-06,-2.86e-05,6.54e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000138,0.000119,0.000119,0.000132,0.0326,0.0326,0.0128,0.0503,0.0503,0.0446,4.36e-10,4.36e-10,7.48e-10,3.12e-06,3.12e-06,6.85e-08,0,0,0,0,0,0,0,0
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18990000,0.707,7.36e-05,-0.0123,0.708,0.0136,0.00169,0.000837,0.00612,-0.000603,-365,-1.37e-05,-6.05e-05,5.82e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000116,0.000116,0.000132,0.0288,0.0288,0.0123,0.0444,0.0444,0.0438,3.96e-10,3.97e-10,7.31e-10,3.11e-06,3.11e-06,6.54e-08,0,0,0,0,0,0,0,0
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19090000,0.707,5.84e-05,-0.0122,0.708,0.0142,0.0023,0.00391,0.0075,-0.000376,-365,-1.37e-05,-6.05e-05,5.79e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000117,0.000117,0.000131,0.0317,0.0317,0.0123,0.0501,0.0501,0.0442,3.96e-10,3.97e-10,7.17e-10,3.11e-06,3.11e-06,6.37e-08,0,0,0,0,0,0,0,0
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19190000,0.707,5.97e-05,-0.0121,0.708,0.0142,0.00228,0.00399,0.00837,-0.000352,-365,-1.37e-05,-6.05e-05,5.94e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000113,0.000113,0.000131,0.0281,0.0281,0.0119,0.0442,0.0442,0.0435,3.61e-10,3.61e-10,7.01e-10,3.1e-06,3.1e-06,6.09e-08,0,0,0,0,0,0,0,0
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19290000,0.707,8.28e-05,-0.0121,0.708,0.0146,0.00154,0.00673,0.00977,-0.000143,-365,-1.37e-05,-6.05e-05,5.73e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000115,0.000115,0.000131,0.0309,0.0309,0.0117,0.0499,0.0499,0.0433,3.61e-10,3.61e-10,6.85e-10,3.1e-06,3.1e-06,5.91e-08,0,0,0,0,0,0,0,0
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19390000,0.707,9.15e-05,-0.012,0.708,0.0121,0.000594,0.0106,0.00783,-0.000181,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.71e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0275,0.0275,0.0115,0.0441,0.0441,0.0431,3.29e-10,3.29e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
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19490000,0.707,0.000115,-0.012,0.707,0.0112,-0.000105,0.00696,0.00898,-0.00016,-365,-1.39e-05,-6.06e-05,6.18e-06,-2.92e-05,6.71e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000112,0.000112,0.00013,0.0301,0.0301,0.0113,0.0498,0.0498,0.043,3.29e-10,3.29e-10,6.57e-10,3.09e-06,3.09e-06,5.53e-08,0,0,0,0,0,0,0,0
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19590000,0.707,0.000161,-0.0119,0.707,0.00927,-0.00115,0.00631,0.00725,-0.000203,-365,-1.4e-05,-6.06e-05,6.55e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000109,0.000109,0.00013,0.0268,0.0268,0.011,0.044,0.044,0.0423,3e-10,3e-10,6.43e-10,3.08e-06,3.08e-06,5.31e-08,0,0,0,0,0,0,0,0
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19690000,0.707,0.000161,-0.012,0.707,0.00962,-0.00333,0.00785,0.0082,-0.000432,-365,-1.4e-05,-6.06e-05,6.32e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.00011,0.00011,0.00013,0.0294,0.0294,0.0109,0.0495,0.0495,0.0422,3e-10,3e-10,6.29e-10,3.08e-06,3.08e-06,5.16e-08,0,0,0,0,0,0,0,0
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19790000,0.707,0.000225,-0.0119,0.707,0.00733,-0.00418,0.00835,0.00664,-0.000349,-365,-1.41e-05,-6.05e-05,6.33e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000107,0.000129,0.0261,0.0261,0.0106,0.0438,0.0438,0.042,2.74e-10,2.74e-10,6.17e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.707,0.000173,-0.0119,0.707,0.00608,-0.00445,0.00953,0.00731,-0.000795,-365,-1.41e-05,-6.05e-05,6.75e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000108,0.000129,0.0286,0.0286,0.0105,0.0493,0.0493,0.0419,2.74e-10,2.74e-10,6.04e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.707,0.000156,-0.0119,0.707,0.00366,-0.00516,0.0123,0.00595,-0.000669,-365,-1.42e-05,-6.05e-05,7.3e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000106,0.000106,0.000129,0.0255,0.0255,0.0102,0.0437,0.0437,0.0412,2.51e-10,2.51e-10,5.91e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.707,0.00015,-0.0119,0.707,0.00342,-0.00711,0.0126,0.00631,-0.00127,-365,-1.42e-05,-6.05e-05,7.76e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000107,0.000107,0.000129,0.0279,0.0279,0.0102,0.0491,0.0491,0.0415,2.51e-10,2.51e-10,5.8e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.707,0.000251,-0.0118,0.707,0.00112,-0.0078,0.0149,0.00405,-0.001,-365,-1.43e-05,-6.05e-05,7.96e-06,-2.7e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000104,0.000104,0.000128,0.0248,0.0248,0.00991,0.0435,0.0435,0.0409,2.3e-10,2.31e-10,5.68e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.707,0.000211,-0.0118,0.707,-3.04e-05,-0.00938,0.0129,0.0041,-0.00185,-365,-1.43e-05,-6.05e-05,8.08e-06,-2.71e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000105,0.000105,0.000128,0.0271,0.0271,0.00982,0.0489,0.0489,0.0408,2.31e-10,2.31e-10,5.56e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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20390000,0.707,0.000227,-0.0119,0.707,-0.00245,-0.00996,0.015,0.00225,-0.00146,-365,-1.44e-05,-6.04e-05,8.06e-06,-2.57e-05,7.62e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000103,0.000103,0.000128,0.0242,0.0242,0.00963,0.0434,0.0434,0.0406,2.12e-10,2.12e-10,5.46e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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18990000,0.707,7.3e-05,-0.0123,0.708,0.0136,0.00169,0.000837,0.00613,-0.000613,-365,-1.37e-05,-6.05e-05,5.82e-06,-2.87e-05,6.44e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000116,0.000116,0.000132,0.029,0.029,0.0123,0.0448,0.0448,0.0438,3.98e-10,3.98e-10,7.31e-10,3.11e-06,3.11e-06,6.54e-08,0,0,0,0,0,0,0,0
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19190000,0.707,5.9e-05,-0.0121,0.708,0.0143,0.00228,0.00399,0.00838,-0.000362,-365,-1.37e-05,-6.05e-05,5.94e-06,-2.9e-05,6.41e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000114,0.000114,0.000131,0.0283,0.0283,0.0119,0.0446,0.0446,0.0435,3.62e-10,3.62e-10,7.01e-10,3.1e-06,3.1e-06,6.09e-08,0,0,0,0,0,0,0,0
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19290000,0.707,8.2e-05,-0.0121,0.708,0.0146,0.00154,0.00673,0.00979,-0.000153,-365,-1.37e-05,-6.05e-05,5.73e-06,-2.9e-05,6.41e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000115,0.000115,0.000131,0.0311,0.0311,0.0117,0.0504,0.0504,0.0433,3.62e-10,3.62e-10,6.85e-10,3.1e-06,3.1e-06,5.91e-08,0,0,0,0,0,0,0,0
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19390000,0.707,9.08e-05,-0.012,0.708,0.0122,0.000596,0.0106,0.00784,-0.000191,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.7e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0276,0.0276,0.0115,0.0445,0.0445,0.0431,3.3e-10,3.3e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
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19490000,0.707,0.000114,-0.012,0.707,0.0112,-0.000104,0.00696,0.00899,-0.000169,-365,-1.39e-05,-6.06e-05,6.17e-06,-2.92e-05,6.7e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000113,0.000112,0.00013,0.0303,0.0303,0.0113,0.0502,0.0502,0.043,3.3e-10,3.3e-10,6.57e-10,3.09e-06,3.09e-06,5.53e-08,0,0,0,0,0,0,0,0
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19590000,0.707,0.00016,-0.0119,0.707,0.00929,-0.00115,0.00631,0.00726,-0.000211,-365,-1.4e-05,-6.06e-05,6.55e-06,-2.92e-05,6.94e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.00011,0.000109,0.00013,0.0269,0.0269,0.011,0.0444,0.0444,0.0423,3.01e-10,3.01e-10,6.43e-10,3.08e-06,3.08e-06,5.31e-08,0,0,0,0,0,0,0,0
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19690000,0.707,0.00016,-0.012,0.707,0.00964,-0.00333,0.00785,0.00821,-0.00044,-365,-1.4e-05,-6.06e-05,6.32e-06,-2.92e-05,6.94e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000111,0.00011,0.00013,0.0295,0.0295,0.0109,0.05,0.05,0.0422,3.01e-10,3.01e-10,6.29e-10,3.08e-06,3.08e-06,5.16e-08,0,0,0,0,0,0,0,0
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19790000,0.707,0.000225,-0.0119,0.707,0.00735,-0.00418,0.00835,0.00665,-0.000354,-365,-1.41e-05,-6.05e-05,6.33e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000108,0.000129,0.0263,0.0263,0.0106,0.0442,0.0442,0.042,2.75e-10,2.75e-10,6.17e-10,3.07e-06,3.08e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.707,0.000172,-0.0119,0.707,0.0061,-0.00445,0.00953,0.00733,-0.0008,-365,-1.41e-05,-6.05e-05,6.75e-06,-2.87e-05,7.13e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000109,0.000109,0.000129,0.0288,0.0288,0.0105,0.0498,0.0498,0.0419,2.75e-10,2.76e-10,6.04e-10,3.07e-06,3.08e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.707,0.000155,-0.0119,0.707,0.00368,-0.00516,0.0123,0.00596,-0.000671,-365,-1.42e-05,-6.05e-05,7.3e-06,-2.81e-05,7.26e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000106,0.000106,0.000129,0.0256,0.0256,0.0102,0.0441,0.0441,0.0412,2.52e-10,2.52e-10,5.91e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.707,0.00015,-0.0119,0.707,0.00344,-0.0071,0.0126,0.00632,-0.00127,-365,-1.42e-05,-6.05e-05,7.76e-06,-2.81e-05,7.26e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000107,0.000107,0.000129,0.028,0.028,0.0102,0.0495,0.0495,0.0415,2.52e-10,2.52e-10,5.8e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.707,0.00025,-0.0118,0.707,0.00114,-0.00779,0.0149,0.00406,-0.000998,-365,-1.43e-05,-6.05e-05,7.95e-06,-2.7e-05,7.47e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000104,0.000104,0.000128,0.025,0.025,0.00991,0.0439,0.0439,0.0409,2.31e-10,2.32e-10,5.68e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.707,0.000211,-0.0118,0.707,-1.2e-05,-0.00937,0.0129,0.00411,-0.00185,-365,-1.43e-05,-6.05e-05,8.08e-06,-2.71e-05,7.47e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000105,0.000105,0.000128,0.0273,0.0273,0.00982,0.0493,0.0493,0.0408,2.32e-10,2.32e-10,5.56e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
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@@ -105,247 +105,247 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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34190000,0.983,-0.00655,-0.0117,0.185,-0.0113,-0.0194,-0.117,0.0709,-0.0121,-0.585,-1.41e-05,-5.63e-05,1.4e-06,-5.72e-05,-0.000116,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.64e-06,3.74e-05,3.73e-05,4.36e-05,0.0484,0.0485,0.00579,0.0435,0.0435,0.0328,2.59e-11,2.59e-11,8.89e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.983,-0.00641,-0.0117,0.185,-0.0117,-0.0186,-0.117,0.0698,-0.0141,-0.597,-1.41e-05,-5.63e-05,1.41e-06,-5.71e-05,-0.000116,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.64e-06,3.74e-05,3.74e-05,4.34e-05,0.0554,0.0554,0.00583,0.0504,0.0504,0.0326,2.6e-11,2.6e-11,8.81e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.983,-0.00632,-0.0117,0.185,-0.0126,-0.00919,-0.112,0.0715,-0.00943,-0.606,-1.41e-05,-5.63e-05,1.4e-06,-7.25e-05,-0.000129,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.63e-06,3.39e-05,3.39e-05,4.34e-05,0.0478,0.0478,0.00585,0.0444,0.0444,0.0325,2.6e-11,2.6e-11,8.74e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.983,-0.00639,-0.0116,0.185,-0.0153,-0.00816,-0.112,0.0702,-0.0103,-0.617,-1.41e-05,-5.63e-05,1.43e-06,-7.25e-05,-0.000129,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.63e-06,3.4e-05,3.4e-05,4.32e-05,0.0541,0.0541,0.00591,0.0514,0.0514,0.0324,2.61e-11,2.61e-11,8.67e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.983,-0.00634,-0.0115,0.185,-0.0115,-0.00451,0.682,0.0722,-0.0082,-0.595,-1.41e-05,-5.63e-05,1.4e-06,-8.54e-05,-0.00013,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.62e-06,3.15e-05,3.15e-05,4.3e-05,0.0445,0.0445,0.00592,0.0451,0.0451,0.0321,2.62e-11,2.62e-11,8.59e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.983,-0.00633,-0.0112,0.185,-0.0115,-0.0029,1.67,0.071,-0.00857,-0.477,-1.41e-05,-5.63e-05,1.38e-06,-8.54e-05,-0.00013,-0.00107,0.204,0.00201,0.435,0,0,0,0,0,1.62e-06,3.16e-05,3.16e-05,4.3e-05,0.048,0.048,0.00602,0.0518,0.0518,0.0322,2.63e-11,2.63e-11,8.53e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.983,-0.00631,-0.011,0.185,-0.0108,0.00113,2.64,0.0721,-0.00635,-0.299,-1.41e-05,-5.63e-05,1.36e-06,-7.1e-05,-0.000146,-0.00104,0.204,0.00201,0.435,0,0,0,0,0,1.61e-06,3.02e-05,3.02e-05,4.28e-05,0.0404,0.0404,0.00604,0.0454,0.0454,0.0319,2.63e-11,2.63e-11,8.45e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.983,-0.00629,-0.0107,0.185,-0.0112,0.00303,3.63,0.071,-0.006,-0.00811,-1.41e-05,-5.63e-05,1.34e-06,-6.73e-05,-0.000148,-0.00104,0.204,0.00201,0.435,0,0,0,0,0,1.6e-06,3.02e-05,3.02e-05,4.27e-05,0.0441,0.0441,0.00614,0.0519,0.0519,0.0318,2.64e-11,2.64e-11,8.38e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
Reference in New Issue
Block a user