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Tools/ecl_ekf: fix vibe_metrics usage (moved to vehicle_imu_status instances)

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Daniel Agar
2022-04-13 10:36:45 -04:00
parent b4158c1b48
commit 9c381a60b5
6 changed files with 84 additions and 60 deletions
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Tools/ecl_ekf/check_table.csv
+6 -6
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@@ -49,12 +49,12 @@ hagl_test_mean, The mean in-flight value of the height above ground sensor innov
ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
imu_hfgyro_peak, Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
imu_hfgyro_mean, Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
imu_hfaccel_peak, Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
imu_hfaccel_mean, Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
output_obs_pos_err_median, Median in-flight value of the output observer position error (m)
1 check_id check_description
49 ofx_fail_percentage The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
50 ofy_fail_percentage The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
51 filter_faults_max Largest recorded value of the filter internal fault bitmask. Should always be zero.
52 imu_coning_peak Peak in-flight value of the IMU delta angle coning vibration metric (rad) Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
53 imu_coning_mean Mean in-flight value of the IMU delta angle coning vibration metric (rad) Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
54 imu_hfdang_peak imu_hfgyro_peak Peak in-flight value of the IMU delta angle high frequency vibration metric (rad) Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
55 imu_hfdang_mean imu_hfgyro_mean Mean in-flight value of the IMU delta angle high frequency vibration metric (rad) Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
56 imu_hfdvel_peak imu_hfaccel_peak Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s) Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
57 imu_hfdvel_mean imu_hfaccel_mean Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s) Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
58 output_obs_ang_err_median Median in-flight value of the output observer angular error (rad)
59 output_obs_vel_err_median Median in-flight value of the output observer velocity error (m/s)
60 output_obs_pos_err_median Median in-flight value of the output observer position error (m)