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Code Issues Releases Activity

More simulation work

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This commit is contained in:
James Cotton 2012-02-28 02:50:19 -06:00
parent 9e4651ab80
commit 093d52b002
1 changed files with 2 additions and 2 deletions
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4
matlab/ins/sim.m
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@ -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_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]; 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); [a(:,i) b K] = insgps_ml('INSStatePrediction',gyro,accel,dT);
if Magnetometer.timestamp(mag_idx) <= t if Magnetometer.timestamp(mag_idx) <= t
@ -140,7 +140,7 @@ for i = 1:length(Gyros.timestamp)-1000
insgps_ml('INSVelBaroCorrection',vel,baro); insgps_ml('INSVelBaroCorrection',vel,baro);
update_baro = false; update_baro = false;
elseif update_pos elseif update_pos
%insgps_ml(' insgps_ml('INSGpsCorrection',[0 0 baro],[0 0 0]);
update_pos = false; update_pos = false;
end end
else % outdoor else % outdoor