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ECL: Clean velPos logging, deprecate ekf2_innovations msg

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kamilritz
2019-12-05 11:29:29 +01:00
committed by Julian Kent
parent 22e4e85eeb
commit b73c80428e
24 changed files with 298 additions and 138 deletions
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Tools/ecl_ekf/analysis/metrics.py
+1 -3
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@@ -134,8 +134,6 @@ def calculate_innov_fail_metrics(
def calculate_imu_metrics(
ulog: ULog, in_air_no_ground_effects: InAirDetector) -> dict:
ekf2_innovation_data = ulog.get_dataset('ekf2_innovations').data
estimator_status_data = ulog.get_dataset('estimator_status').data
imu_metrics = dict()
@@ -145,7 +143,7 @@ def calculate_imu_metrics(
('output_tracking_error[1]', 'output_obs_vel_err_median'),
('output_tracking_error[2]', 'output_obs_pos_err_median')]:
imu_metrics[result] = calculate_stat_from_signal(
ekf2_innovation_data, 'ekf2_innovations', signal, in_air_no_ground_effects, np.median)
estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)
# calculates peak and mean for IMU vibration checks
for signal, result in [('vibe[0]', 'imu_coning'),