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estimator_status split out estimator_states

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Daniel Agar
2020-09-04 10:48:26 -04:00
parent 33a7fed240
commit 9ccc1db649
17 changed files with 150 additions and 108 deletions
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Tools/ecl_ekf/analysis/metrics.py
+4 -2
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@@ -158,11 +158,13 @@ def calculate_imu_metrics(
in_air_no_ground_effects, np.mean)
# IMU bias checks
estimator_states_data = ulog.get_dataset('estimator_states').data
imu_metrics['imu_dang_bias_median'] = np.sqrt(np.sum([np.square(calculate_stat_from_signal(
estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median))
estimator_states_data, 'estimator_states', signal, in_air_no_ground_effects, np.median))
for signal in ['states[10]', 'states[11]', 'states[12]']]))
imu_metrics['imu_dvel_bias_median'] = np.sqrt(np.sum([np.square(calculate_stat_from_signal(
estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median))
estimator_states_data, 'estimator_states', signal, in_air_no_ground_effects, np.median))
for signal in ['states[13]', 'states[14]', 'states[15]']]))
return imu_metrics