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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/plotting/pdf_report.py
+25 -11
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@@ -250,18 +250,32 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
data_plot.save()
data_plot.close()
# Plot the EKF IMU vibration metrics
scaled_estimator_status = {'vibe[0]': 1000. * estimator_status['vibe[0]'],
'vibe[1]': 1000. * estimator_status['vibe[1]'],
'vibe[2]': estimator_status['vibe[2]']
}
data_plot = CheckFlagsPlot(
status_time, scaled_estimator_status, [['vibe[0]'], ['vibe[1]'], ['vibe[2]']],
x_label='time (sec)', y_labels=['Del Ang Coning (mrad)', 'HF Del Ang (mrad)',
'HF Del Vel (m/s)'], plot_title='IMU Vibration Metrics',
pdf_handle=pdf_pages, annotate=True)
data_plot.save()
data_plot.close()
for imu_status_instance in range(4):
try:
vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
imu_status_time = 1e-6 * vehicle_imu_status_data['timestamp']
if vehicle_imu_status_data['accel_device_id'][0] == estimator_status['accel_device_id'][0]:
scaled_estimator_status = {'delta_angle_coning_metric': 1000. * vehicle_imu_status_data['delta_angle_coning_metric'],
'gyro_vibration_metric': vehicle_imu_status_data['gyro_vibration_metric'],
'accel_vibration_metric': vehicle_imu_status_data['accel_vibration_metric']
}
data_plot = CheckFlagsPlot(
imu_status_time, scaled_estimator_status, [['delta_angle_coning_metric'], ['gyro_vibration_metric'], ['accel_vibration_metric']],
x_label='time (sec)',
y_labels=['Del Ang Coning (mrad^2)', 'HF Gyro (rad/s)', 'HF accel (m/s/s)'],
plot_title='IMU Vibration Metrics',
pdf_handle=pdf_pages, annotate=True)
data_plot.save()
data_plot.close()
except:
pass
# Plot the EKF output observer tracking errors
scaled_innovations = {