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Small fix to revo sensor log processing. Also check in allan analysis.

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This commit is contained in:
James Cotton 2012-01-26 23:30:10 -06:00
parent b4435d0b35
commit e0fc4c30ee
3 changed files with 1319 additions and 1 deletions
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14
matlab/revo/allan.m Normal file
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source = gyro;
clear data
data.freq = source(:,3)';
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')
[~,~,gyro_residual] = regress(gyro(:,1)-mean(gyro(:,1)),[gyro(:,4)-mean(gyro(:,4)), (1:size(gyro,1))']);
data.freq = gyro_residual;
data.time = unwrap_time(source(:,end))'/1000;
data.rate = 1/mean(diff(data.time))
tau = 1/data.rate * round(logspace(0,7,200))
[retval, s, errorb, tau] = allan(data,tau,'gyro')

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matlab/revo/altitude_plant.mdl Normal file
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2
matlab/revo/sensor_log.m
View File

@ -133,6 +133,6 @@ latitude(gps_idx+1:end) = [];
longitude(gps_idx+1:end) = [];
altitude(gps_idx+1:end) = [];
groundspeed(gps_idx+1:end) = [];
gps_satelites(gps_idx+1:end) = [];
gps_satellites(gps_idx+1:end) = [];
gps_time(gps_idx+1:end) = [];
baro(baro_idx+1:end,:) = [];