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ekf2: update change indicator

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bresch
2022-11-14 11:51:32 -05:00
committed by Daniel Agar
parent f319cc528b
commit c67f03f383
2 changed files with 5 additions and 5 deletions
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src/modules/ekf2/test/change_indication/iris_gps.csv
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@@ -215,7 +215,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
21290000,0.98,-0.00055,-0.0072,0.19,-0.049,0.054,-0.63,-0.0062,0.0089,-0.082,-1.4e-05,-5.9e-05,2.2e-06,0.00014,4.7e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.6e-05,9.4e-05,7.1e-05,0.026,0.026,0.0083,0.048,0.048,0.036,1.6e-10,1.6e-10,4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21390000,0.98,-0.002,-0.0079,0.19,-0.044,0.05,-0.75,-0.005,0.011,-0.15,-1.4e-05,-5.9e-05,2.2e-06,0.00015,1.5e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.3e-05,9.2e-05,7.1e-05,0.023,0.023,0.0082,0.043,0.043,0.036,1.4e-10,1.4e-10,3.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21490000,0.98,-0.0028,-0.0083,0.19,-0.04,0.047,-0.89,-0.0093,0.016,-0.23,-1.4e-05,-5.9e-05,2.3e-06,0.00015,4.7e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.4e-05,9.3e-05,7.1e-05,0.026,0.026,0.0083,0.048,0.048,0.036,1.4e-10,1.4e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21590000,0.98,-0.0033,-0.0083,0.19,-0.031,0.043,-1,-0.0079,0.017,-0.32,-1.4e-05,-5.9e-05,2.3e-06,0.00015,4.4e-08,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.2e-05,9e-05,7e-05,0.023,0.023,0.0082,0.043,0.043,0.036,1.3e-10,1.3e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21590000,0.98,-0.0033,-0.0083,0.19,-0.031,0.043,-1,-0.0079,0.017,-0.32,-1.4e-05,-5.9e-05,2.3e-06,0.00015,4.5e-08,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.2e-05,9e-05,7e-05,0.023,0.023,0.0082,0.043,0.043,0.036,1.3e-10,1.3e-10,3.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21690000,0.98,-0.0037,-0.0082,0.19,-0.029,0.039,-1.1,-0.011,0.021,-0.44,-1.4e-05,-5.9e-05,2.5e-06,0.00015,-1.8e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9.2e-05,9.1e-05,7e-05,0.025,0.025,0.0083,0.048,0.048,0.036,1.3e-10,1.3e-10,3.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21790000,0.98,-0.004,-0.0084,0.19,-0.021,0.033,-1.3,-0.0038,0.018,-0.56,-1.4e-05,-5.8e-05,2.7e-06,0.00015,-3.8e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9e-05,8.8e-05,7e-05,0.023,0.023,0.0082,0.043,0.043,0.036,1.2e-10,1.2e-10,3.6e-10,2.8e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
21890000,0.98,-0.0043,-0.0085,0.19,-0.018,0.029,-1.4,-0.0057,0.021,-0.7,-1.4e-05,-5.8e-05,2.5e-06,0.00016,-5.1e-06,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.6e-06,9e-05,8.9e-05,6.9e-05,0.025,0.025,0.0082,0.048,0.048,0.036,1.2e-10,1.2e-10,3.6e-10,2.8e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
215 21290000 0.98 -0.00055 -0.0072 0.19 -0.049 0.054 -0.63 -0.0062 0.0089 -0.082 -1.4e-05 -5.9e-05 2.2e-06 0.00014 4.7e-06 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9.6e-05 9.4e-05 7.1e-05 0.026 0.026 0.0083 0.048 0.048 0.036 1.6e-10 1.6e-10 4e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
216 21390000 0.98 -0.002 -0.0079 0.19 -0.044 0.05 -0.75 -0.005 0.011 -0.15 -1.4e-05 -5.9e-05 2.2e-06 0.00015 1.5e-06 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9.3e-05 9.2e-05 7.1e-05 0.023 0.023 0.0082 0.043 0.043 0.036 1.4e-10 1.4e-10 3.9e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
217 21490000 0.98 -0.0028 -0.0083 0.19 -0.04 0.047 -0.89 -0.0093 0.016 -0.23 -1.4e-05 -5.9e-05 2.3e-06 0.00015 4.7e-07 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9.4e-05 9.3e-05 7.1e-05 0.026 0.026 0.0083 0.048 0.048 0.036 1.4e-10 1.4e-10 3.8e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
218 21590000 0.98 -0.0033 -0.0083 0.19 -0.031 0.043 -1 -0.0079 0.017 -0.32 -1.4e-05 -5.9e-05 2.3e-06 0.00015 4.4e-08 4.5e-08 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9.2e-05 9e-05 7e-05 0.023 0.023 0.0082 0.043 0.043 0.036 1.3e-10 1.3e-10 3.8e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
219 21690000 0.98 -0.0037 -0.0082 0.19 -0.029 0.039 -1.1 -0.011 0.021 -0.44 -1.4e-05 -5.9e-05 2.5e-06 0.00015 -1.8e-06 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9.2e-05 9.1e-05 7e-05 0.025 0.025 0.0083 0.048 0.048 0.036 1.3e-10 1.3e-10 3.7e-10 2.9e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
220 21790000 0.98 -0.004 -0.0084 0.19 -0.021 0.033 -1.3 -0.0038 0.018 -0.56 -1.4e-05 -5.8e-05 2.7e-06 0.00015 -3.8e-06 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9e-05 8.8e-05 7e-05 0.023 0.023 0.0082 0.043 0.043 0.036 1.2e-10 1.2e-10 3.6e-10 2.8e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0
221 21890000 0.98 -0.0043 -0.0085 0.19 -0.018 0.029 -1.4 -0.0057 0.021 -0.7 -1.4e-05 -5.8e-05 2.5e-06 0.00016 -5.1e-06 -0.0013 0.2 0.002 0.43 0 0 0 0 0 2.6e-06 9e-05 8.9e-05 6.9e-05 0.025 0.025 0.0082 0.048 0.048 0.036 1.2e-10 1.2e-10 3.6e-10 2.8e-06 2.9e-06 5e-08 0 0 0 0 0 0 0 0