From 093d52b0027f25435e44795625bcb9e6309fe373 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Tue, 28 Feb 2012 02:50:19 -0600 Subject: [PATCH] More simulation work --- matlab/ins/sim.m | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/matlab/ins/sim.m b/matlab/ins/sim.m index b8c9ca519..4292d22f8 100644 --- a/matlab/ins/sim.m +++ b/matlab/ins/sim.m @@ -74,7 +74,7 @@ for i = 1:length(Gyros.timestamp)-1000 accel_idx = accel_idx - 1 + find(Accels.timestamp(accel_idx:end) >= t,1,'first'); accel = [Accels.x(accel_idx) Accels.y(accel_idx) Accels.z(accel_idx)-0.4]; - dT = 0.0015; + dT = 0.0013; [a(:,i) b K] = insgps_ml('INSStatePrediction',gyro,accel,dT); if Magnetometer.timestamp(mag_idx) <= t @@ -140,7 +140,7 @@ for i = 1:length(Gyros.timestamp)-1000 insgps_ml('INSVelBaroCorrection',vel,baro); update_baro = false; elseif update_pos - %insgps_ml(' + insgps_ml('INSGpsCorrection',[0 0 baro],[0 0 0]); update_pos = false; end else % outdoor