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Code Issues Releases Activity

More work for the simulation

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This commit is contained in:
James Cotton 2012-02-28 00:42:50 -06:00
parent 96edea9d4b
commit 137429d92d
3 changed files with 2467 additions and 32 deletions
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2302
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
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@ -7,16 +7,210 @@
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@ -6500,6 +7837,967 @@
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};
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65F93C3C12EE09280047DB36 /* aes.o */,
65F93C3D12EE09280047DB36 /* buffer.lst */,
65F93C3E12EE09280047DB36 /* buffer.o */,
65F93C3F12EE09280047DB36 /* core_cm3.lst */,
65F93C4012EE09280047DB36 /* core_cm3.o */,
65F93C4112EE09280047DB36 /* crc.lst */,
65F93C4212EE09280047DB36 /* crc.o */,
65F93C4312EE09280047DB36 /* dep */,
65F93C7C12EE09280047DB36 /* fifo_buffer.lst */,
65F93C7D12EE09280047DB36 /* fifo_buffer.o */,
65F93C7E12EE09280047DB36 /* gpio_in.lst */,
65F93C7F12EE09280047DB36 /* gpio_in.o */,
65F93C8012EE09280047DB36 /* main.lst */,
65F93C8112EE09280047DB36 /* main.o */,
65F93C8212EE09280047DB36 /* misc.lst */,
65F93C8312EE09280047DB36 /* misc.o */,
65F93C8412EE09290047DB36 /* packet_handler.lst */,
65F93C8512EE09290047DB36 /* packet_handler.o */,
65F93C8612EE09290047DB36 /* pios_adc.lst */,
65F93C8712EE09290047DB36 /* pios_adc.o */,
65F93C8812EE09290047DB36 /* pios_board.lst */,
65F93C8912EE09290047DB36 /* pios_board.o */,
65F93C8A12EE09290047DB36 /* pios_com.lst */,
65F93C8B12EE09290047DB36 /* pios_com.o */,
65F93C8C12EE09290047DB36 /* pios_delay.lst */,
65F93C8D12EE09290047DB36 /* pios_delay.o */,
65F93C8E12EE09290047DB36 /* pios_gpio.lst */,
65F93C8F12EE09290047DB36 /* pios_gpio.o */,
65F93C9012EE09290047DB36 /* pios_irq.lst */,
65F93C9112EE09290047DB36 /* pios_irq.o */,
65F93C9212EE09290047DB36 /* pios_led.lst */,
65F93C9312EE09290047DB36 /* pios_led.o */,
65F93C9412EE09290047DB36 /* pios_spi.lst */,
65F93C9512EE09290047DB36 /* pios_spi.o */,
65F93C9612EE09290047DB36 /* pios_sys.lst */,
65F93C9712EE09290047DB36 /* pios_sys.o */,
65F93C9812EE09290047DB36 /* pios_usart.lst */,
65F93C9912EE09290047DB36 /* pios_usart.o */,
65F93C9A12EE09290047DB36 /* pios_usb_hid.lst */,
65F93C9B12EE09290047DB36 /* pios_usb_hid.o */,
65F93C9C12EE09290047DB36 /* pios_usb_hid_desc.lst */,
65F93C9D12EE09290047DB36 /* pios_usb_hid_desc.o */,
65F93C9E12EE09290047DB36 /* pios_usb_hid_istr.lst */,
65F93C9F12EE09290047DB36 /* pios_usb_hid_istr.o */,
65F93CA012EE09290047DB36 /* pios_usb_hid_prop.lst */,
65F93CA112EE09290047DB36 /* pios_usb_hid_prop.o */,
65F93CA212EE09290047DB36 /* pios_usb_hid_pwr.lst */,
65F93CA312EE09290047DB36 /* pios_usb_hid_pwr.o */,
65F93CA412EE09290047DB36 /* pios_wdg.lst */,
65F93CA512EE09290047DB36 /* pios_wdg.o */,
65F93CA612EE09290047DB36 /* PipXtreme.bin */,
65F93CA712EE09290047DB36 /* PipXtreme.elf */,
65F93CA812EE09290047DB36 /* PipXtreme.hex */,
65F93CA912EE09290047DB36 /* PipXtreme.lss */,
65F93CAA12EE09290047DB36 /* PipXtreme.map */,
65F93CAB12EE09290047DB36 /* PipXtreme.sym */,
65F93CAC12EE09290047DB36 /* printf-stdarg.lst */,
65F93CAD12EE09290047DB36 /* printf-stdarg.o */,
65F93CAE12EE09290047DB36 /* rfm22b.lst */,
65F93CAF12EE09290047DB36 /* rfm22b.o */,
65F93CB012EE09290047DB36 /* saved_settings.lst */,
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65F93CB212EE09290047DB36 /* startup_stm32f10x_MD.lst */,
65F93CB312EE09290047DB36 /* startup_stm32f10x_MD.o */,
65F93CB412EE09290047DB36 /* stm32f10x_adc.lst */,
65F93CB512EE09290047DB36 /* stm32f10x_adc.o */,
65F93CB612EE09290047DB36 /* stm32f10x_bkp.lst */,
65F93CB712EE09290047DB36 /* stm32f10x_bkp.o */,
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65F93CBB12EE09290047DB36 /* stm32f10x_dac.o */,
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65F93CBE12EE09290047DB36 /* stm32f10x_dma.lst */,
65F93CBF12EE09290047DB36 /* stm32f10x_dma.o */,
65F93CC012EE09290047DB36 /* stm32f10x_exti.lst */,
65F93CC112EE09290047DB36 /* stm32f10x_exti.o */,
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65F93CC812EE09290047DB36 /* stm32f10x_iwdg.lst */,
65F93CC912EE09290047DB36 /* stm32f10x_iwdg.o */,
65F93CCA12EE09290047DB36 /* stm32f10x_pwr.lst */,
65F93CCB12EE09290047DB36 /* stm32f10x_pwr.o */,
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65F93CD212EE09290047DB36 /* stm32f10x_tim.lst */,
65F93CD312EE09290047DB36 /* stm32f10x_tim.o */,
65F93CD412EE09290047DB36 /* stm32f10x_usart.lst */,
65F93CD512EE09290047DB36 /* stm32f10x_usart.o */,
65F93CD612EE09290047DB36 /* stopwatch.lst */,
65F93CD712EE09290047DB36 /* stopwatch.o */,
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65F93CD912EE09290047DB36 /* system_stm32f10x.o */,
65F93CDA12EE09290047DB36 /* transparent_comms.lst */,
65F93CDB12EE09290047DB36 /* transparent_comms.o */,
65F93CDC12EE09290047DB36 /* uavtalk_comms.lst */,
65F93CDD12EE09290047DB36 /* uavtalk_comms.o */,
65F93CDE12EE09290047DB36 /* usb_core.lst */,
65F93CDF12EE09290047DB36 /* usb_core.o */,
65F93CE012EE09290047DB36 /* usb_init.lst */,
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65F93CE212EE09290047DB36 /* usb_int.lst */,
65F93CE312EE09290047DB36 /* usb_int.o */,
65F93CE412EE09290047DB36 /* usb_mem.lst */,
65F93CE512EE09290047DB36 /* usb_mem.o */,
65F93CE612EE09290047DB36 /* usb_regs.lst */,
65F93CE712EE09290047DB36 /* usb_regs.o */,
65F93CE812EE09290047DB36 /* usb_sil.lst */,
65F93CE912EE09290047DB36 /* usb_sil.o */,
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65F93C4512EE09280047DB36 /* buffer.o.d */,
65F93C4612EE09280047DB36 /* core_cm3.o.d */,
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65F93C4812EE09280047DB36 /* fifo_buffer.o.d */,
65F93C4912EE09280047DB36 /* gpio_in.o.d */,
65F93C4A12EE09280047DB36 /* main.o.d */,
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65F93C4C12EE09280047DB36 /* packet_handler.o.d */,
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65F93C4E12EE09280047DB36 /* pios_board.o.d */,
65F93C4F12EE09280047DB36 /* pios_com.o.d */,
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65F93C5112EE09280047DB36 /* pios_gpio.o.d */,
65F93C5212EE09280047DB36 /* pios_irq.o.d */,
65F93C5312EE09280047DB36 /* pios_led.o.d */,
65F93C5412EE09280047DB36 /* pios_spi.o.d */,
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65F93C5812EE09280047DB36 /* pios_usb_hid_desc.o.d */,
65F93C5912EE09280047DB36 /* pios_usb_hid_istr.o.d */,
65F93C5A12EE09280047DB36 /* pios_usb_hid_prop.o.d */,
65F93C5B12EE09280047DB36 /* pios_usb_hid_pwr.o.d */,
65F93C5C12EE09280047DB36 /* pios_wdg.o.d */,
65F93C5D12EE09280047DB36 /* printf-stdarg.o.d */,
65F93C5E12EE09280047DB36 /* rfm22b.o.d */,
65F93C5F12EE09280047DB36 /* saved_settings.o.d */,
65F93C6012EE09280047DB36 /* stm32f10x_adc.o.d */,
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65F93C6212EE09280047DB36 /* stm32f10x_crc.o.d */,
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65F93C6612EE09280047DB36 /* stm32f10x_exti.o.d */,
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65F93C6A12EE09280047DB36 /* stm32f10x_iwdg.o.d */,
65F93C6B12EE09280047DB36 /* stm32f10x_pwr.o.d */,
65F93C6C12EE09280047DB36 /* stm32f10x_rcc.o.d */,
65F93C6D12EE09280047DB36 /* stm32f10x_rtc.o.d */,
65F93C6E12EE09280047DB36 /* stm32f10x_spi.o.d */,
65F93C6F12EE09280047DB36 /* stm32f10x_tim.o.d */,
65F93C7012EE09280047DB36 /* stm32f10x_usart.o.d */,
65F93C7112EE09280047DB36 /* stopwatch.o.d */,
65F93C7212EE09280047DB36 /* system_stm32f10x.o.d */,
65F93C7312EE09280047DB36 /* transparent_comms.o.d */,
65F93C7412EE09280047DB36 /* uavtalk_comms.o.d */,
65F93C7512EE09280047DB36 /* usb_core.o.d */,
65F93C7612EE09280047DB36 /* usb_init.o.d */,
65F93C7712EE09280047DB36 /* usb_int.o.d */,
65F93C7812EE09280047DB36 /* usb_mem.o.d */,
65F93C7912EE09280047DB36 /* usb_regs.o.d */,
65F93C7A12EE09280047DB36 /* usb_sil.o.d */,
65F93C7B12EE09280047DB36 /* watchdog.o.d */,
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children = (
65F93CEF12EE09290047DB36 /* aes.h */,
65F93CF012EE09290047DB36 /* crc.h */,
65F93CF112EE09290047DB36 /* gpio_in.h */,
65F93CF212EE09290047DB36 /* main.h */,
65F93CF312EE09290047DB36 /* packet_handler.h */,
65F93CF412EE09290047DB36 /* pios_config.h */,
65F93CF512EE09290047DB36 /* pios_usb.h */,
65F93CF612EE09290047DB36 /* pios_usb_hid_desc.h */,
65F93CF712EE09290047DB36 /* rfm22b.h */,
65F93CF812EE09290047DB36 /* saved_settings.h */,
65F93CF912EE09290047DB36 /* stopwatch.h */,
65F93CFA12EE09290047DB36 /* transparent_comms.h */,
65F93CFB12EE09290047DB36 /* uavtalk_comms.h */,
65F93CFC12EE09290047DB36 /* usb_conf.h */,
65F93CFD12EE09290047DB36 /* watchdog.h */,
);
path = inc;
sourceTree = "<group>";
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65FA9B61147078450019A260 /* ahrs_slave_test.c */,
65FA9B62147078450019A260 /* ahrs_spi_program.c */,
65FA9B63147078450019A260 /* ahrs_spi_program_master.c */,
65FA9B64147078450019A260 /* ahrs_spi_program_slave.c */,
65FA9B65147078450019A260 /* bl_fsm.c */,
65FA9B66147078450019A260 /* inc */,
65FA9B6E147078450019A260 /* main.c */,
65FA9B6F147078450019A260 /* Makefile */,
65FA9B70147078450019A260 /* pios_board.c */,
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65FA9B68147078450019A260 /* ahrs_spi_program.h */,
65FA9B69147078450019A260 /* ahrs_spi_program_master.h */,
65FA9B6A147078450019A260 /* ahrs_spi_program_slave.h */,
65FA9B6B147078450019A260 /* bl_fsm.h */,
65FA9B6C147078450019A260 /* ins_bl.h */,
65FA9B6D147078450019A260 /* pios_config.h */,
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sourceTree = "<group>";
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65FF4BB413791C3300146BE4 /* AHRS */,
65FF4BC413791C3300146BE4 /* BootloaderUpdater */,
65FF4BCB13791C3300146BE4 /* CopterControl */,
65FF4BD513791C3300146BE4 /* OpenPilot */,
65FF4BE213791C3300146BE4 /* PipXtreme */,
65FA9B60147078450019A260 /* Revolution */,
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65FF4BB513791C3300146BE4 /* ahrs_slave_test.c */,
65FF4BB613791C3300146BE4 /* ahrs_spi_program.c */,
65FF4BB713791C3300146BE4 /* ahrs_spi_program_master.c */,
65FF4BB813791C3300146BE4 /* ahrs_spi_program_slave.c */,
65FF4BB913791C3300146BE4 /* bl_fsm.c */,
65FF4BBA13791C3300146BE4 /* inc */,
65FF4BC113791C3300146BE4 /* main.c */,
65FF4BC213791C3300146BE4 /* Makefile */,
65FF4BC313791C3300146BE4 /* pios_board.c */,
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65FF4BBC13791C3300146BE4 /* ahrs_spi_program.h */,
65FF4BBD13791C3300146BE4 /* ahrs_spi_program_master.h */,
65FF4BBE13791C3300146BE4 /* ahrs_spi_program_slave.h */,
65FF4BBF13791C3300146BE4 /* bl_fsm.h */,
65FF4BC013791C3300146BE4 /* pios_config.h */,
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65FF4BC513791C3300146BE4 /* inc */,
65FF4BC713791C3300146BE4 /* main.c */,
65FF4BC813791C3300146BE4 /* Makefile */,
65FF4BC913791C3300146BE4 /* pios_board.c */,
65FF4BCA13791C3300146BE4 /* test.bin */,
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65FF4BCC13791C3300146BE4 /* inc */,
65FF4BD113791C3300146BE4 /* main.c */,
65FF4BD213791C3300146BE4 /* Makefile */,
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65FF4BD413791C3300146BE4 /* pios_board.c */,
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65FF4BCE13791C3300146BE4 /* op_dfu.h */,
65FF4BCF13791C3300146BE4 /* pios_config.h */,
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sourceTree = "<group>";
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children = (
65FF4BD613791C3300146BE4 /* inc */,
65FF4BDC13791C3300146BE4 /* main.c */,
65FF4BDD13791C3300146BE4 /* Makefile */,
65FF4BDE13791C3300146BE4 /* op_dfu.c */,
65FF4BDF13791C3300146BE4 /* pios_board.c */,
65FF4BE013791C3300146BE4 /* ssp.c */,
65FF4BE113791C3300146BE4 /* ssp_timer.c */,
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65FF4BD713791C3300146BE4 /* common.h */,
65FF4BD813791C3300146BE4 /* op_dfu.h */,
65FF4BD913791C3300146BE4 /* pios_config.h */,
65FF4BDA13791C3300146BE4 /* pios_usb.h */,
65FF4BDB13791C3300146BE4 /* ssp.h */,
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65FF4BE213791C3300146BE4 /* PipXtreme */ = {
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children = (
65FF4BE313791C3300146BE4 /* inc */,
65FF4BE813791C3300146BE4 /* main.c */,
65FF4BE913791C3300146BE4 /* Makefile */,
65FF4BEA13791C3300146BE4 /* op_dfu.c */,
65FF4BEB13791C3300146BE4 /* pios_board.c */,
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65FF4BE413791C3300146BE4 /* common.h */,
65FF4BE513791C3300146BE4 /* op_dfu.h */,
65FF4BE613791C3300146BE4 /* pios_config.h */,
65FF4BE713791C3300146BE4 /* pios_usb.h */,
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/* Begin PBXLegacyTarget section */

28
matlab/ins/insgps_ml.c
View File

@ -74,12 +74,24 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
return;
}
if(!mlGetFloatArray(prhs[1], mag_data, 1)) {
if(!mlGetFloatArray(prhs[1], mag_data, 3)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
MagCorrection(mag_data);
} else if(mlStringCompare(prhs[0], "INSBaroCorrection")) {
if(nrhs != 2) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], &baro_data, 1)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
BaroCorrection(baro_data);
} else if(mlStringCompare(prhs[0], "INSMagVelBaroCorrection")) {
if(nrhs != 4) {
@ -95,6 +107,20 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
}
MagVelBaroCorrection(mag_data, vel_data, baro_data);
} else if(mlStringCompare(prhs[0], "INSGpsCorrection")) {
if(nrhs != 3) {
mexErrMsgTxt("Incorrect number of inputs for correction\n");
return;
}
if(!mlGetFloatArray(prhs[1], pos_data, 3) ||
!mlGetFloatArray(prhs[2], vel_data ,3)) {
mexErrMsgTxt("Error with the input parameters\n");
return;
}
GpsCorrection(pos_data, vel_data);
} else if(mlStringCompare(prhs[0], "INSVelBaroCorrection")) {
if(nrhs != 3) {

169
matlab/ins/sim.m
View File

@ -1,17 +1,72 @@
Gyros.timestamp = medfilt1(Gyros.timestamp,3);
Accels.timestamp = medfilt1(Accels.timestamp,3);
Magnetometer.timestamp = medfilt1(Magnetometer.timestamp,3);
BaroAltitude.timestamp = medfilt1(BaroAltitude.timestamp,3);
t0 = 60000;
bad = find(Gyros.timestamp > max(medfilt1(Gyros.timestamp,5)) | Gyros.timestamp < t0);
Gyros.timestamp(bad) = [];
Gyros.x(bad) = [];
Gyros.y(bad) = [];
Gyros.z(bad) = [];
Gyros.timestamp = medfilt1(Gyros.timestamp,5);
bad = find(Accels.timestamp > max(medfilt1(Accels.timestamp,5)));
Accels.timestamp(bad) = [];
Accels.x(bad) = [];
Accels.y(bad) = [];
Accels.z(bad) = [];
Accels.timestamp = medfilt1(Accels.timestamp,5);
bad = find(Magnetometer.timestamp > max(medfilt1(Magnetometer.timestamp,5)));
Magnetometer.timestamp(bad) = [];
Magnetometer.x(bad) = [];
Magnetometer.y(bad) = [];
Magnetometer.z(bad) = [];
Magnetometer.timestamp = medfilt1(Magnetometer.timestamp,5);
bad = find(BaroAltitude.timestamp > max(medfilt1(BaroAltitude.timestamp,5)));
BaroAltitude.timestamp(bad) = [];
BaroAltitude.Altitude(bad) = [];
bad = find(GPSPosition.timestamp > max(medfilt1(GPSPosition.timestamp,5)));
GPSPosition.timestamp(bad) = [];
GPSPosition.Latitude(bad) = [];
GPSPosition.Longitude(bad) = [];
GPSPosition.Altitude(bad) = [];
GPSPosition.Heading(bad) = [];
GPSPosition.Satellites(bad) = [];
GPSPosition.Groundspeed(bad) = [];
GPSPosition.timestamp = medfilt1(GPSPosition.timestamp,5);
outdoor = any(GPSPosition.Satellites > 7);
north = [24000 1700 43000];
baro_offset = 0;
if outdoor
idx = find(GPSPosition.Satellites > 7, 1, 'first');
home = [GPSPosition.Latitude(idx) GPSPosition.Longitude(idx) GPSPosition.Altitude(idx)];
home(1:2) = home(1:2) / 10e6;
baro_offset = -125;
end
insgps_ml('INSGPSInit')
insgps_ml('INSSetMagNorth',north);
insgps_ml('INSSetMagVar',[5 5 5]/1000);
insgps_ml('INSSetAccelVar',1.5e-4 * ones(1,3));
insgps_ml('INSSetGyroVar',2e-5*ones(1,3));
insgps_ml('INSSetAccelVar',1.5e-5 * ones(1,3));
insgps_ml('INSSetGyroVar',2e-4*ones(1,3));
accel_idx = 1;
mag_idx = 1;
baro_idx = 1;
gps_idx = 1;
update_mag = false;
update_baro = false;
update_pos = false;
inited = false;
ned = zeros(3,length(Gyros.timestamp));
gps_vel = zeros(3,length(Gyros.timestamp));
a = zeros(13,length(Gyros.timestamp));
for i = 1:length(Gyros.timestamp)-1000
t = Gyros.timestamp(i);
gyro = [Gyros.x(i) Gyros.y(i) Gyros.z(i)] * pi / 180;
@ -22,43 +77,99 @@ for i = 1:length(Gyros.timestamp)-1000
dT = 0.0015;
[a(:,i) b K] = insgps_ml('INSStatePrediction',gyro,accel,dT);
mag_idx = mag_idx - 1 + find(Magnetometer.timestamp(mag_idx:end) >= t,1,'first');
mag = [Magnetometer.x(mag_idx) Magnetometer.y(mag_idx) Magnetometer.z(mag_idx)];
if Magnetometer.timestamp(mag_idx) <= t
update_mag = true;
mag_idx = mag_idx + 1;
mag = [Magnetometer.x(mag_idx) Magnetometer.y(mag_idx) Magnetometer.z(mag_idx)];
end
if BaroAltitude.timestamp(baro_idx) <= t
baro_idx = baro_idx + 1;
update_baro = true;
baro = -BaroAltitude.Altitude(baro_idx) + baro_offset;
end
baro_idx = baro_idx - 1 + find(BaroAltitude.timestamp(mag_idx:end) >= t,1,'first');
baro = -BaroAltitude.Altitude(baro_idx);
pos = [0 0 -baro];
vel = [0 0 0];
if i == 1
rpy(1) = atan2(accel(1), accel(3));
rpy(2) = atan2(accel(2), accel(3));
if outdoor && GPSPosition.timestamp(gps_idx) <= t
gps_idx = gps_idx + 1;
lla = [GPSPosition.Latitude(gps_idx) GPSPosition.Longitude(gps_idx) GPSPosition.Altitude(gps_idx)];
lla(1:2) = lla(1:2) / 10e6;
pos = LLA2NED(lla, home);
vel = [cos(GPSPosition.Heading(gps_idx) * pi / 180), sin(GPSPosition.Heading(gps_idx) * pi / 180) 0];
vel = vel * GPSPosition.Groundspeed(gps_idx);
update_pos = true;
elseif ~outdoor
pos = [0 0 baro];
vel = [0 0 0];
update_pos = true;
end
if t > 4.1e5 & t < 4.2e5
update_pos = false;
end
ned(:,i) = pos;
gps_vel(:,i) = vel;
if ~inited && update_pos && update_baro && update_mag
update_pos = false;
update_baro = false;
update_mag = false;
inited = true;
rpy(1) = atan2(accel(1), accel(3)) * 0;
rpy(2) = atan2(accel(2), accel(3)) * 0;
rpy(3) = atan2(mag(2),-mag(1));
%q1 = AttiudeFromVectors(mag',north',accel');
q1 = RPY2Quaternion(rpy * 180 / pi)';
insgps_ml('INSSetState',[0 0 -baro 0 0 0 q1' 0 0 0]);
elseif i < 1000
insgps_ml('INSSetState',[pos(1) pos(2) baro vel q1' -mean(Gyros.x(1:100) * pi / 180) -mean(Gyros.y(1:100) * pi / 180) 0]);
elseif inited && i < 100
insgps_ml('INSSetMagVar',[5 5 5]);
insgps_ml('INSSetPosVelVar',1 / 1000);
% zero bias
insgps_ml('INSSetState',[a(1:10,i)' 0 0 0]);
state = insgps_ml('INSFullCorrection',mag,pos,vel,baro);
else
insgps_ml('INSSetMagVar',[5 5 5]);
insgps_ml('INSSetPosVelVar',1);
%insgps_ml('INSSetState',[a(1:10,i)' 0 0 0]);
%state = insgps_ml('INSFullCorrection',mag,pos,vel,baro);
elseif inited
insgps_ml('INSSetMagVar',[5 5 5]*100);
insgps_ml('INSMagVelBaroCorrection',mag,vel,baro);
if ~outdoor
if update_mag
insgps_ml('INSMagCorrection',mag);
update_mag = false;
elseif update_baro
insgps_ml('INSVelBaroCorrection',vel,baro);
update_baro = false;
elseif update_pos
%insgps_ml('
update_pos = false;
end
else % outdoor
insgps_ml('INSSetPosVelVar',0.0001);
if update_mag
insgps_ml('INSMagCorrection',mag);
update_mag = false;
elseif update_baro
insgps_ml('INSBaroCorrection',baro);
update_baro = false;
elseif update_pos
insgps_ml('INSGpsCorrection',pos,vel);
update_pos = false;
end
end
end
%state = insgps_ml('INSFullCorrection',mag,pos,vel,baro);
if(mod(i,10) == 0)
if(mod(i,100) == 0)
q = a(7:10,1:i);
rpy = Quaternion2RPY(q');
subplot(211);
plot(rpy(:,1:2))
subplot(212);
plot(a(1:3,1:i)');
subplot(311);
idx = find((AttitudeActual.timestamp < t) & (AttitudeActual.timestamp > Gyros.timestamp(1)));
plot(Gyros.timestamp(1:i),rpy(:,1:2),AttitudeActual.timestamp(idx),AttitudeActual.Roll(idx),'k',AttitudeActual.timestamp(idx),AttitudeActual.Pitch(idx),'k');
subplot(312);
plot(Gyros.timestamp(1:i), a(1:2,1:i)',Gyros.timestamp(1:i), ned(1:2,1:i)','k');
subplot(313);
plot(Gyros.timestamp(1:i), a(4:5,1:i)',Gyros.timestamp(1:i), gps_vel(1:2,1:i)','k');
drawnow
end
end