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wind_est_replay: report scale instead of inverse_scale

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The estimator internally estimates the scale inverse, but the interface
should be the scale as "airspeed_corrected = scale * airspeed"
This commit is contained in:
bresch
2024-05-24 17:25:39 +02:00
committed by Mathieu Bresciani
parent 4f64acb352
commit ccbcbbe268
1 changed files with 4 additions and 2 deletions
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src/lib/wind_estimator/python/wind_estimator_replay.py
+4 -2
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@@ -78,7 +78,9 @@ def run(logfile, use_gnss, scale_init):
if scale_init is None:
scale_init = 1.0
state = np.array([0.0, 0.0, scale_init])
# The estimator estimates the inverse scale factor to have a simpler measurement jacobian
inverse_scale_init = 1 / scale_init
state = np.array([0.0, 0.0, inverse_scale_init])
P = np.diag([1.0, 1.0, 1e-4])
wind_nsd = 1e-2
scale_nsd = 1e-4
@@ -118,7 +120,7 @@ def run(logfile, use_gnss, scale_init):
wind_est_n[i] = state[0]
wind_est_e[i] = state[1]
scale_est[i] = state[2]
scale_est[i] = 1 / state[2]
plt.figure(1)
ax1 = plt.subplot(2, 1, 1)