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ekf2: pos/vel reset helpers pass new variance
- optical flow velocity reset use already computed _flow_vel_ne
This commit is contained in:
Daniel Agar
@@ -695,20 +695,20 @@ private:
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// fuse single velocity and position measurement
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bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
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void resetVelocityTo(const Vector3f &vel);
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel);
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void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var = NAN);
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void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var);
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var);
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); }
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void resetVelocityToGps(const gpsSample &gps_sample);
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void resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample);
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void resetVelocityToVision();
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void resetHorizontalVelocityToZero();
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void resetHorizontalPositionToGps(const gpsSample &gps_sample);
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void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var);
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void resetHorizontalPositionToVision();
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void resetHorizontalPositionToOpticalFlow();
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void resetHorizontalPositionToLastKnown();
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void resetHorizontalPositionTo(const Vector2f &new_horz_pos);
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void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var);
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void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); }
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bool isHeightResetRequired() const;
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@@ -1025,7 +1025,6 @@ private:
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void startAirspeedFusion();
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void stopAirspeedFusion();
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void startGpsFusion(const gpsSample &gps_sample);
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void stopGpsFusion();
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void stopGpsPosFusion();
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void stopGpsVelFusion();
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@@ -44,51 +44,11 @@
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#include <mathlib/mathlib.h>
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#include <cstdlib>
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void Ekf::resetVelocityToGps(const gpsSample &gps_sample)
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{
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_information_events.flags.reset_vel_to_gps = true;
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ECL_INFO("reset velocity to GPS");
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resetVelocityTo(gps_sample.vel);
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P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
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}
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void Ekf::resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample)
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{
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_information_events.flags.reset_vel_to_flow = true;
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ECL_INFO("reset velocity to flow");
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// constrain height above ground to be above minimum possible
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const float heightAboveGndEst = fmaxf((_terrain_vpos - _state.pos(2)), _params.rng_gnd_clearance);
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// calculate absolute distance from focal point to centre of frame assuming a flat earth
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const float range = heightAboveGndEst / _range_sensor.getCosTilt();
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if ((range - _params.rng_gnd_clearance) > 0.3f) {
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// we should have reliable OF measurements so
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// calculate X and Y body relative velocities from OF measurements
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Vector3f vel_optflow_body;
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vel_optflow_body(0) = - range * _flow_compensated_XY_rad(1) / flow_sample.dt;
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vel_optflow_body(1) = range * _flow_compensated_XY_rad(0) / flow_sample.dt;
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vel_optflow_body(2) = 0.0f;
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// rotate from body to earth frame
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const Vector3f vel_optflow_earth = _R_to_earth * vel_optflow_body;
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resetHorizontalVelocityTo(Vector2f(vel_optflow_earth));
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} else {
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resetHorizontalVelocityTo(Vector2f{0.f, 0.f});
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}
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// reset the horizontal velocity variance using the optical flow noise variance
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P.uncorrelateCovarianceSetVariance<2>(4, sq(range) * calcOptFlowMeasVar(flow_sample));
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}
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void Ekf::resetVelocityToVision()
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{
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_information_events.flags.reset_vel_to_vision = true;
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ECL_INFO("reset to vision velocity");
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resetVelocityTo(getVisionVelocityInEkfFrame());
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P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame());
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resetVelocityTo(getVisionVelocityInEkfFrame(), getVisionVelocityVarianceInEkfFrame());
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}
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void Ekf::resetHorizontalVelocityToZero()
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@@ -96,21 +56,28 @@ void Ekf::resetHorizontalVelocityToZero()
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_information_events.flags.reset_vel_to_zero = true;
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ECL_INFO("reset velocity to zero");
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// Used when falling back to non-aiding mode of operation
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resetHorizontalVelocityTo(Vector2f{0.f, 0.f});
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P.uncorrelateCovarianceSetVariance<2>(4, 25.0f);
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resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f);
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}
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void Ekf::resetVelocityTo(const Vector3f &new_vel)
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void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var)
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{
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resetHorizontalVelocityTo(Vector2f(new_vel));
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resetVerticalVelocityTo(new_vel(2));
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resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1)));
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resetVerticalVelocityTo(new_vel(2), new_vel_var(2));
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}
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void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel)
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void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var)
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{
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const Vector2f delta_horz_vel = new_horz_vel - Vector2f(_state.vel);
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_state.vel.xy() = new_horz_vel;
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if (PX4_ISFINITE(new_horz_vel_var(0))) {
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P.uncorrelateCovarianceSetVariance<1>(4, math::max(sq(0.01f), new_horz_vel_var(0)));
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}
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if (PX4_ISFINITE(new_horz_vel_var(1))) {
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P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1)));
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}
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel.xy() += delta_horz_vel;
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}
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@@ -148,14 +115,6 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
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_time_last_ver_vel_fuse = _imu_sample_delayed.time_us;
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}
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void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample)
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{
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_information_events.flags.reset_pos_to_gps = true;
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ECL_INFO("reset position to GPS");
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resetHorizontalPositionTo(gps_sample.pos);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
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}
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void Ekf::resetHorizontalPositionToVision()
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{
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_information_events.flags.reset_pos_to_vision = true;
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@@ -166,45 +125,33 @@ void Ekf::resetHorizontalPositionToVision()
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_ev_pos = _R_ev_to_ekf * _ev_sample_delayed.pos;
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}
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resetHorizontalPositionTo(Vector2f(_ev_pos));
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P.uncorrelateCovarianceSetVariance<2>(7, _ev_sample_delayed.posVar.slice<2, 1>(0, 0));
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resetHorizontalPositionTo(Vector2f(_ev_pos), _ev_sample_delayed.posVar.slice<2, 1>(0, 0));
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// let the next odometry update know that the previous value of states cannot be used to calculate the change in position
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_hpos_prev_available = false;
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}
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void Ekf::resetHorizontalPositionToOpticalFlow()
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{
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_information_events.flags.reset_pos_to_last_known = true;
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if (!_control_status.flags.in_air) {
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ECL_INFO("reset horizontal position to (0, 0)");
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// we are likely starting OF for the first time so reset the horizontal position
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resetHorizontalPositionTo(Vector2f(0.f, 0.f));
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} else {
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ECL_INFO("reset horizontal position to last known");
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resetHorizontalPositionTo(_last_known_pos.xy());
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}
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// estimate is relative to initial position in this mode, so we start with zero error.
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P.uncorrelateCovarianceSetVariance<2>(7, 0.0f);
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}
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void Ekf::resetHorizontalPositionToLastKnown()
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{
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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// Used when falling back to non-aiding mode of operation
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resetHorizontalPositionTo(_last_known_pos.xy());
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P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
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resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise));
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}
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void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos)
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void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var)
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{
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const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}};
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_state.pos.xy() = new_horz_pos;
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if (PX4_ISFINITE(new_horz_pos_var(0))) {
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P.uncorrelateCovarianceSetVariance<1>(7, math::max(sq(0.01f), new_horz_pos_var(0)));
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}
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if (PX4_ISFINITE(new_horz_pos_var(1))) {
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P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1)));
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}
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].pos.xy() += delta_horz_pos;
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}
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@@ -1356,22 +1303,6 @@ void Ekf::stopAirspeedFusion()
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_control_status.flags.fuse_aspd = false;
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}
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void Ekf::startGpsFusion(const gpsSample &gps_sample)
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{
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if (!_control_status.flags.gps) {
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resetHorizontalPositionToGps(gps_sample);
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// when already using another velocity source velocity reset is not necessary
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if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) {
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resetVelocityToGps(gps_sample);
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}
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_information_events.flags.starting_gps_fusion = true;
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ECL_INFO("starting GPS fusion");
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_control_status.flags.gps = true;
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}
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}
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void Ekf::stopGpsFusion()
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{
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if (_control_status.flags.gps) {
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@@ -59,10 +59,11 @@ void Ekf::controlGpsFusion()
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controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing);
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// GNSS velocity
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const float vel_obs_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
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const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
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const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
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updateVelocityAidSrcStatus(gps_sample.time_us,
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gps_sample.vel, // observation
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Vector3f(vel_obs_var, vel_obs_var, vel_obs_var * sq(1.5f)), // observation variance
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vel_obs_var, // observation variance
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math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate
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_aid_src_gnss_vel);
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_aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL);
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@@ -79,10 +80,11 @@ void Ekf::controlGpsFusion()
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}
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}
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const float pos_obs_var = sq(pos_noise);
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const float pos_var = sq(pos_noise);
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const Vector2f pos_obs_var(pos_var, pos_var);
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updateHorizontalPositionAidSrcStatus(gps_sample.time_us,
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gps_sample.pos, // observation
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Vector2f(pos_obs_var, pos_obs_var), // observation variance
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pos_obs_var, // observation variance
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math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate
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_aid_src_gnss_pos);
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_aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS);
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@@ -129,9 +131,11 @@ void Ekf::controlGpsFusion()
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}
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}
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ECL_WARN("GPS fusion timeout - resetting");
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resetVelocityToGps(gps_sample);
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resetHorizontalPositionToGps(gps_sample);
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ECL_WARN("GPS fusion timeout, resetting velocity and position");
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_information_events.flags.reset_vel_to_gps = true;
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_information_events.flags.reset_pos_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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}
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} else {
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@@ -165,7 +169,20 @@ void Ekf::controlGpsFusion()
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_inhibit_ev_yaw_use = true;
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} else {
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startGpsFusion(gps_sample);
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ECL_INFO("starting GPS fusion");
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_information_events.flags.starting_gps_fusion = true;
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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// when already using another velocity source velocity reset is not necessary
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if (!isHorizontalAidingActive()) {
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_information_events.flags.reset_vel_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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}
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_control_status.flags.gps = true;
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}
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} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
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@@ -173,8 +190,12 @@ void Ekf::controlGpsFusion()
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if (resetYawToEKFGSF()) {
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_information_events.flags.yaw_aligned_to_imu_gps = true;
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ECL_INFO("Yaw aligned using IMU and GPS");
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resetVelocityToGps(gps_sample);
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resetHorizontalPositionToGps(gps_sample);
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ECL_INFO("reset velocity and position to GPS");
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_information_events.flags.reset_vel_to_gps = true;
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_information_events.flags.reset_pos_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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}
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}
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}
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@@ -77,11 +77,12 @@ void Ekf::controlOpticalFlowFusion()
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_delta_time_of = _imu_sample_delayed.delta_ang_dt;
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is_delta_time_good = true;
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}
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}
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if (is_quality_good && !is_delta_time_good) {
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ECL_DEBUG("Optical flow: bad delta time: OF dt %.6f s (min: %.3f, max: %.3f), IMU dt %.6f s",
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(double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max, (double)_imu_sample_delayed.delta_ang_dt);
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(double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max,
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(double)_imu_sample_delayed.delta_ang_dt);
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}
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}
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@@ -166,12 +167,25 @@ void Ekf::controlOpticalFlowFusion()
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// if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set
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if (!isHorizontalAidingActive()) {
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resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed);
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resetHorizontalPositionToOpticalFlow();
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ECL_INFO("reset velocity to flow");
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_information_events.flags.reset_vel_to_flow = true;
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resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
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// reset position, estimate is relative to initial position in this mode, so we start with zero error
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if (!_control_status.flags.in_air) {
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ECL_INFO("reset position to zero");
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resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f);
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_last_known_pos.xy() = _state.pos.xy();
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} else {
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);
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}
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}
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_control_status.flags.opt_flow = true;
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_aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us;
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_control_status.flags.opt_flow = true;
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return;
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}
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@@ -190,11 +204,19 @@ void Ekf::controlOpticalFlowFusion()
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}
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// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
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if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)
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if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
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&& !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
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resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed);
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resetHorizontalPositionToOpticalFlow();
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ECL_INFO("reset velocity to flow");
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_information_events.flags.reset_vel_to_flow = true;
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resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
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// reset position, estimate is relative to initial position in this mode, so we start with zero error
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ECL_INFO("reset position to last known");
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_information_events.flags.reset_pos_to_last_known = true;
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resetHorizontalPositionTo(_last_known_pos.xy(), 0.f);
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_aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us;
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}
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}
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@@ -103,124 +103,124 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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10090000,0.7,0.0023,-0.014,0.71,-0.061,0.039,-0.097,-0.079,0.059,-3.7e+02,-1.5e-05,-5.6e-05,-3.7e-07,0,0,-0.00091,0.21,0.002,0.44,0,0,0,0,0,9.6e-05,0.00067,0.00067,9.8e-05,2,2,0.08,7.5,7.5,0.085,1.2e-08,1.2e-08,4e-09,4e-06,4e-06,1.6e-06,0,0,0,0,0,0,0,0
|
||||
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18490000,0.71,7.9e-05,-0.012,0.71,0.014,0.00021,0.0075,0.0047,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4.5e-06,-1.7e-05,5.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.2e-05,0.034,0.034,0.014,0.051,0.051,0.046,5.3e-10,5.3e-10,6.7e-10,3.1e-06,3.1e-06,8e-08,0,0,0,0,0,0,0,0
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18790000,0.71,8.4e-05,-0.012,0.71,0.012,6.5e-05,0.0034,0.0038,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,4.6e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.2e-05,0.03,0.03,0.013,0.045,0.045,0.045,4.4e-10,4.4e-10,6.3e-10,3.1e-06,3.1e-06,7.1e-08,0,0,0,0,0,0,0,0
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18890000,0.71,0.00011,-0.012,0.71,0.013,0.00056,0.004,0.005,-0.00085,-3.7e+02,-1.4e-05,-6.1e-05,5e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.033,0.033,0.013,0.051,0.051,0.045,4.4e-10,4.4e-10,6.2e-10,3.1e-06,3.1e-06,6.9e-08,0,0,0,0,0,0,0,0
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18990000,0.71,9.4e-05,-0.012,0.71,0.014,0.0015,0.0027,0.0063,-0.0007,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.2e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.029,0.029,0.012,0.045,0.045,0.044,4e-10,4e-10,6.1e-10,3e-06,3e-06,6.6e-08,0,0,0,0,0,0,0,0
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19090000,0.71,7.8e-05,-0.012,0.71,0.015,0.0021,0.0057,0.0078,-0.0005,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.2e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.032,0.032,0.012,0.051,0.051,0.044,4e-10,4e-10,6e-10,3e-06,3e-06,6.4e-08,0,0,0,0,0,0,0,0
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19190000,0.71,8.1e-05,-0.012,0.71,0.015,0.0021,0.0058,0.0086,-0.00045,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00011,8.1e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.6e-10,3.6e-10,5.9e-10,3e-06,3e-06,6.1e-08,0,0,0,0,0,0,0,0
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19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0085,0.01,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.043,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,5.9e-08,0,0,0,0,0,0,0,0
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19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.011,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.7e-08,0,0,0,0,0,0,0,0
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19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00032,0.0087,0.0092,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.6e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.5e-08,0,0,0,0,0,0,0,0
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19590000,0.71,0.00019,-0.012,0.71,0.0097,-0.0013,0.008,0.0075,-0.0003,-3.7e+02,-1.4e-05,-6.1e-05,5.9e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.4e-10,3e-06,3e-06,5.3e-08,0,0,0,0,0,0,0,0
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19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0095,0.0085,-0.00055,-3.7e+02,-1.4e-05,-6.1e-05,5.7e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
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19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0044,0.0099,0.0068,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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17390000,0.71,0.0004,-0.013,0.71,0.0024,0.0015,-0.0047,-0.0047,-0.0016,-3.7e+02,-1.3e-05,-6e-05,3.3e-06,-1.6e-05,5.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.8e-05,0.00015,0.00014,8.5e-05,0.034,0.034,0.018,0.046,0.046,0.048,8.7e-10,8.7e-10,8.5e-10,3.2e-06,3.2e-06,1.3e-07,0,0,0,0,0,0,0,0
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17490000,0.71,0.00039,-0.013,0.71,0.003,0.001,-0.003,-0.0044,-0.0015,-3.7e+02,-1.3e-05,-6e-05,3.3e-06,-1.6e-05,5.8e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.7e-05,0.00015,0.00015,8.5e-05,0.038,0.038,0.018,0.052,0.052,0.049,8.7e-10,8.7e-10,8.3e-10,3.2e-06,3.2e-06,1.3e-07,0,0,0,0,0,0,0,0
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17590000,0.71,0.0003,-0.013,0.71,0.0042,-0.00014,0.0025,-0.0037,-0.0026,-3.7e+02,-1.4e-05,-6.1e-05,3.4e-06,-1.9e-05,5.9e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.7e-05,0.00014,0.00014,8.5e-05,0.034,0.034,0.017,0.046,0.046,0.048,7.9e-10,7.9e-10,8.1e-10,3.2e-06,3.2e-06,1.2e-07,0,0,0,0,0,0,0,0
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17790000,0.71,0.00018,-0.013,0.71,0.0077,0.00029,0.00056,-0.0021,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4.2e-06,-1.9e-05,5.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.7e-05,0.00014,0.00014,8.4e-05,0.033,0.033,0.016,0.045,0.045,0.048,7.1e-10,7.1e-10,7.8e-10,3.2e-06,3.2e-06,1.1e-07,0,0,0,0,0,0,0,0
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17890000,0.71,0.00019,-0.013,0.71,0.0092,-0.00047,0.00065,-0.0012,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.9e-05,5.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.6e-05,0.00014,0.00014,8.4e-05,0.037,0.037,0.016,0.052,0.052,0.048,7.1e-10,7.1e-10,7.6e-10,3.2e-06,3.2e-06,1.1e-07,0,0,0,0,0,0,0,0
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17990000,0.71,0.00013,-0.013,0.71,0.011,-0.0022,0.0019,-0.00053,-0.0019,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.8e-05,5.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.4e-05,0.032,0.032,0.016,0.045,0.045,0.047,6.4e-10,6.4e-10,7.5e-10,3.1e-06,3.1e-06,1e-07,0,0,0,0,0,0,0,0
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18090000,0.71,0.00014,-0.013,0.71,0.012,-0.0024,0.0043,0.00061,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4e-06,-1.8e-05,5.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.6e-05,0.00014,0.00014,8.3e-05,0.036,0.036,0.016,0.051,0.051,0.047,6.4e-10,6.4e-10,7.3e-10,3.1e-06,3.1e-06,9.7e-08,0,0,0,0,0,0,0,0
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18190000,0.71,0.00011,-0.013,0.71,0.012,-0.0013,0.0056,0.0015,-0.0017,-3.7e+02,-1.3e-05,-6.1e-05,4.2e-06,-1.7e-05,5.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.3e-05,0.032,0.032,0.015,0.045,0.045,0.047,5.8e-10,5.8e-10,7.2e-10,3.1e-06,3.1e-06,9.2e-08,0,0,0,0,0,0,0,0
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18290000,0.71,4.8e-05,-0.012,0.71,0.012,-0.0019,0.0068,0.0027,-0.0018,-3.7e+02,-1.3e-05,-6.1e-05,4.1e-06,-1.7e-05,5.4e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.3e-05,0.035,0.035,0.015,0.051,0.051,0.046,5.8e-10,5.8e-10,7e-10,3.1e-06,3.1e-06,8.9e-08,0,0,0,0,0,0,0,0
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18390000,0.71,6.4e-05,-0.013,0.71,0.014,-0.0002,0.0079,0.0032,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.7e-05,5.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.3e-05,0.031,0.031,0.014,0.045,0.045,0.046,5.3e-10,5.3e-10,6.9e-10,3.1e-06,3.1e-06,8.4e-08,0,0,0,0,0,0,0,0
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18490000,0.71,7.9e-05,-0.012,0.71,0.014,0.00021,0.0076,0.0047,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4.5e-06,-1.7e-05,5.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.2e-05,0.034,0.034,0.014,0.051,0.051,0.046,5.3e-10,5.3e-10,6.7e-10,3.1e-06,3.1e-06,8.2e-08,0,0,0,0,0,0,0,0
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18590000,0.71,8.4e-05,-0.012,0.71,0.013,0.00045,0.0057,0.0035,-0.0012,-3.7e+02,-1.4e-05,-6.1e-05,4.9e-06,-1.7e-05,5.9e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.2e-05,0.03,0.03,0.014,0.045,0.045,0.045,4.8e-10,4.8e-10,6.6e-10,3.1e-06,3.1e-06,7.8e-08,0,0,0,0,0,0,0,0
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18690000,0.71,5.3e-05,-0.012,0.71,0.014,-0.00024,0.0038,0.0049,-0.0011,-3.7e+02,-1.4e-05,-6.1e-05,4.8e-06,-1.7e-05,5.9e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00013,0.00012,8.2e-05,0.034,0.034,0.013,0.051,0.051,0.045,4.8e-10,4.8e-10,6.5e-10,3.1e-06,3.1e-06,7.5e-08,0,0,0,0,0,0,0,0
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18790000,0.71,8.3e-05,-0.012,0.71,0.012,6.4e-05,0.0035,0.0038,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,4.6e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.2e-05,0.03,0.03,0.013,0.045,0.045,0.045,4.4e-10,4.4e-10,6.3e-10,3.1e-06,3.1e-06,7.2e-08,0,0,0,0,0,0,0,0
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18890000,0.71,0.00011,-0.012,0.71,0.013,0.00056,0.0041,0.005,-0.00085,-3.7e+02,-1.4e-05,-6.1e-05,5e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.033,0.033,0.013,0.051,0.051,0.045,4.4e-10,4.4e-10,6.2e-10,3.1e-06,3.1e-06,7e-08,0,0,0,0,0,0,0,0
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18990000,0.71,9.4e-05,-0.012,0.71,0.014,0.0015,0.0028,0.0063,-0.0007,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.2e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.029,0.029,0.012,0.045,0.045,0.044,4e-10,4e-10,6.1e-10,3e-06,3e-06,6.6e-08,0,0,0,0,0,0,0,0
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19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.002,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
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@@ -233,8 +233,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -242,19 +242,19 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -268,7 +268,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -285,9 +285,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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||||
@@ -315,35 +315,35 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -359,9 +359,9 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -374,7 +374,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -103,215 +103,215 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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18090000,0.98,-0.0072,-0.011,0.19,0.0033,-0.009,0.043,0.0035,-0.0027,0.098,-1.4e-05,-6e-05,3.1e-06,8.2e-05,3.2e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3.1e-06,0.00013,0.00013,8.5e-05,0.036,0.036,0.0087,0.052,0.052,0.035,6.6e-10,6.6e-10,7.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18190000,0.98,-0.0073,-0.011,0.19,0.0034,-0.0081,0.043,0.0041,-0.0019,0.096,-1.5e-05,-6e-05,3.6e-06,8.8e-05,3e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3.1e-06,0.00013,0.00013,8.5e-05,0.032,0.032,0.0086,0.045,0.045,0.035,6e-10,6e-10,7.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18290000,0.98,-0.0073,-0.011,0.19,0.0043,-0.0085,0.042,0.0044,-0.0028,0.095,-1.4e-05,-6e-05,3.6e-06,9.1e-05,2.8e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3.1e-06,0.00013,0.00013,8.4e-05,0.036,0.036,0.0087,0.051,0.051,0.035,6e-10,6e-10,7.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18690000,0.98,-0.0071,-0.011,0.19,0.0065,-0.0056,0.039,0.0062,-0.0028,0.098,-1.5e-05,-6e-05,3.5e-06,0.0001,2.4e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-10,4.9e-10,6.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18790000,0.98,-0.007,-0.011,0.19,0.0055,-0.0054,0.038,0.0062,-0.0023,0.096,-1.5e-05,-6e-05,3.4e-06,0.00011,2.2e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-10,4.4e-10,6.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18890000,0.98,-0.007,-0.011,0.19,0.0042,-0.005,0.036,0.0067,-0.0029,0.092,-1.5e-05,-6e-05,3.3e-06,0.00011,1.9e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-10,4.4e-10,6.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18890000,0.98,-0.007,-0.011,0.19,0.0042,-0.005,0.036,0.0067,-0.0029,0.093,-1.5e-05,-6e-05,3.3e-06,0.00011,1.9e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-10,4.4e-10,6.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18990000,0.98,-0.007,-0.011,0.19,0.0026,-0.0052,0.037,0.0055,-0.0023,0.096,-1.5e-05,-6e-05,3.2e-06,0.00011,2e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00011,8.1e-05,0.029,0.029,0.0086,0.045,0.045,0.035,4e-10,4e-10,6.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19090000,0.98,-0.0071,-0.011,0.19,0.00058,-0.0056,0.037,0.0058,-0.0028,0.092,-1.5e-05,-6e-05,3.4e-06,0.00011,1.7e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.1e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-10,4e-10,6.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19190000,0.98,-0.007,-0.011,0.19,-0.00089,-0.0053,0.036,0.0048,-0.0023,0.091,-1.5e-05,-6e-05,3e-06,0.00012,1.6e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-10,3.7e-10,6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19090000,0.98,-0.0071,-0.011,0.19,0.00058,-0.0056,0.037,0.0058,-0.0028,0.093,-1.5e-05,-6e-05,3.4e-06,0.00011,1.7e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.1e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-10,4e-10,6.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19190000,0.98,-0.007,-0.011,0.19,-0.00089,-0.0053,0.037,0.0048,-0.0023,0.092,-1.5e-05,-6e-05,3e-06,0.00012,1.6e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-10,3.7e-10,6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19290000,0.98,-0.0069,-0.011,0.19,-0.0017,-0.0051,0.037,0.0047,-0.0028,0.091,-1.5e-05,-6e-05,2.9e-06,0.00012,1.4e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.031,0.031,0.0087,0.05,0.05,0.036,3.7e-10,3.7e-10,5.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.98,-0.007,-0.011,0.19,-0.0022,-0.0017,0.038,0.0041,-0.00095,0.09,-1.5e-05,-6e-05,2.8e-06,0.00012,1.5e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-10,3.3e-10,5.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19490000,0.98,-0.0071,-0.011,0.19,-0.003,-0.0017,0.037,0.0038,-0.0011,0.089,-1.5e-05,-6e-05,2.5e-06,0.00012,1.3e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-10,3.3e-10,5.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19490000,0.98,-0.0071,-0.011,0.19,-0.003,-0.0017,0.038,0.0038,-0.0011,0.09,-1.5e-05,-6e-05,2.5e-06,0.00012,1.3e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-10,3.3e-10,5.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19590000,0.98,-0.007,-0.011,0.19,-0.0041,-0.0046,0.039,0.0044,-0.0022,0.09,-1.5e-05,-6e-05,2.4e-06,0.00013,9.6e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.027,0.027,0.0086,0.044,0.044,0.036,3e-10,3e-10,5.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19690000,0.98,-0.007,-0.011,0.19,-0.0057,-0.0031,0.037,0.0039,-0.0026,0.089,-1.5e-05,-6e-05,2.6e-06,0.00013,7.8e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.8e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-10,3e-10,5.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19790000,0.98,-0.0071,-0.011,0.19,-0.0057,-0.0018,0.035,0.0064,-0.0021,0.085,-1.5e-05,-6e-05,2.4e-06,0.00014,4.2e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.0001,7.8e-05,0.026,0.026,0.0085,0.044,0.044,0.036,2.8e-10,2.8e-10,5.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.98,-0.0072,-0.011,0.19,-0.0058,-0.0015,0.036,0.0058,-0.0022,0.084,-1.5e-05,-6e-05,2.2e-06,0.00014,2.4e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.00011,7.7e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-10,2.8e-10,5.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.98,-0.0072,-0.011,0.19,-0.0054,-0.0015,0.033,0.0061,-0.00071,0.08,-1.5e-05,-5.9e-05,2.3e-06,0.00014,5e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.7e-05,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-10,2.5e-10,5.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.98,-0.0072,-0.011,0.19,-0.0049,-0.0037,0.033,0.0056,-0.00097,0.084,-1.5e-05,-5.9e-05,2.2e-06,0.00014,6.5e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.7e-05,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-10,2.5e-10,5.1e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.98,-0.0072,-0.011,0.19,-0.0039,-0.0011,0.033,0.0066,-0.00071,0.083,-1.5e-05,-5.9e-05,2e-06,0.00015,-6.1e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.6e-05,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-10,2.3e-10,5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.98,-0.0072,-0.011,0.19,-0.0071,-0.0022,0.033,0.0061,-0.00082,0.084,-1.5e-05,-5.9e-05,1.9e-06,0.00015,-1.5e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.6e-05,0.027,0.027,0.0085,0.049,0.049,0.036,2.3e-10,2.3e-10,4.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20390000,0.98,-0.0072,-0.011,0.19,-0.0078,-0.0011,0.033,0.0069,-0.00058,0.085,-1.5e-05,-5.9e-05,2.1e-06,0.00015,-2.8e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,9.9e-05,7.5e-05,0.024,0.024,0.0084,0.044,0.044,0.036,2.1e-10,2.1e-10,4.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20490000,0.98,-0.0072,-0.011,0.19,-0.012,-0.002,0.033,0.0059,-0.00071,0.083,-1.5e-05,-5.9e-05,2e-06,0.00015,-4.6e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.7e-06,0.0001,0.0001,7.5e-05,0.027,0.027,0.0085,0.049,0.049,0.036,2.1e-10,2.1e-10,4.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20590000,0.98,-0.0071,-0.011,0.19,-0.011,-0.003,0.032,0.007,-0.0006,0.081,-1.5e-05,-5.9e-05,2.3e-06,0.00016,-7.2e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.7e-06,9.9e-05,9.8e-05,7.4e-05,0.024,0.024,0.0084,0.044,0.044,0.036,2e-10,2e-10,4.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20690000,0.98,-0.0071,-0.011,0.19,-0.013,-0.0017,0.033,0.0058,-0.00079,0.082,-1.5e-05,-5.9e-05,2.1e-06,0.00016,-8e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.7e-06,0.0001,9.8e-05,7.4e-05,0.026,0.026,0.0084,0.049,0.049,0.036,2e-10,2e-10,4.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20790000,0.98,-0.0065,-0.011,0.19,-0.016,0.00078,0.018,0.0049,-0.00062,0.08,-1.5e-05,-5.9e-05,2.1e-06,0.00016,-9.9e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.7e-06,9.8e-05,9.6e-05,7.4e-05,0.023,0.023,0.0083,0.043,0.043,0.036,1.8e-10,1.8e-10,4.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
20890000,0.98,0.0026,-0.0074,0.19,-0.021,0.013,-0.1,0.003,9.2e-05,0.074,-1.5e-05,-5.9e-05,2.1e-06,0.00016,-1.1e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.7e-06,9.8e-05,9.7e-05,7.3e-05,0.026,0.026,0.0084,0.049,0.049,0.036,1.8e-10,1.8e-10,4.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
20990000,0.98,0.006,-0.004,0.19,-0.032,0.031,-0.24,0.0023,0.0007,0.059,-1.5e-05,-5.9e-05,2.1e-06,0.00016,-1.2e-05,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.6e-05,9.5e-05,7.3e-05,0.023,0.023,0.0083,0.043,0.043,0.036,1.7e-10,1.7e-10,4.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
19690000,0.98,-0.007,-0.011,0.19,-0.0057,-0.0032,0.038,0.0039,-0.0026,0.09,-1.5e-05,-6e-05,2.6e-06,0.00013,7.7e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.8e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-10,3e-10,5.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
19790000,0.98,-0.0071,-0.011,0.19,-0.0057,-0.0018,0.036,0.0064,-0.0021,0.085,-1.5e-05,-6e-05,2.4e-06,0.00014,4e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.0001,7.8e-05,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-10,2.8e-10,5.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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||||
19890000,0.98,-0.0072,-0.011,0.19,-0.0058,-0.0015,0.036,0.0058,-0.0022,0.084,-1.5e-05,-6e-05,2.2e-06,0.00014,2.2e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.00011,7.7e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-10,2.8e-10,5.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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@@ -319,11 +319,11 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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32690000,0.98,-0.0097,-0.013,0.18,0.036,-0.081,-0.12,0.025,0.012,0.075,-1.4e-05,-5.7e-05,2.2e-06,0.00029,-0.00018,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,7.9e-05,7.8e-05,4.5e-05,0.019,0.019,0.0074,0.041,0.041,0.035,2.7e-11,2.7e-11,9.6e-11,2.7e-06,2.7e-06,5e-08,0,0,0,0,0,0,0,0
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||||
@@ -335,17 +335,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
34890000,0.98,-0.007,-0.012,0.18,-0.024,0.0053,3.6,0.07,-0.0062,0.49,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00034,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3e-05,2.9e-05,4.2e-05,0.043,0.043,0.0061,0.052,0.052,0.032,2.6e-11,2.6e-11,8e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
Reference in New Issue
Block a user