diff options
| author | Keith Packard <keithp@keithp.com> | 2017-08-27 17:30:15 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2017-08-27 17:40:53 -0700 |
| commit | bef7c37d1c986cd477367c0c015be61368a788d2 (patch) | |
| tree | 86f31874be5ec6caf5be39f52e1335a8f4a2848b | |
| parent | 2dce02efd54ad4051f1ddb94048696e8677dd225 (diff) | |
altos/test: Integrate raw accel to provide speed for comparison
This can provide a useful visualization of the 'true' vs 'kalman'
speed value, as the kalman is necessarily delayed due to the model
assuming constant acceleration.
Signed-off-by: Keith Packard <keithp@keithp.com>
| -rw-r--r-- | src/test/ao_flight_test.c | 37 | ||||
| -rwxr-xr-x | src/test/plottest | 13 |
2 files changed, 28 insertions, 22 deletions
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 65b939c0..7683a4d9 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -264,6 +264,7 @@ double main_time; int tick_offset; static ao_k_t ao_k_height; +static double simple_speed; int16_t ao_time(void) @@ -501,6 +502,7 @@ ao_insert(void) tick_offset = -ao_data_static.tick; if ((prev_tick - ao_data_static.tick) > 0x400) tick_offset += 65536; + simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0; prev_tick = ao_data_static.tick; time = (double) (ao_data_static.tick + tick_offset) / 100; @@ -616,17 +618,27 @@ ao_insert(void) #endif #if 1 - printf("%7.2f height %8.2f accel %8.3f " -#if TELEMEGA && 1 - "angle %5d " + printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f " + "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d" +#if TELEMEGA + " angle %5d " "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d " #endif - "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", + "\n", time, height, accel, -#if TELEMEGA && 1 - ao_sample_orient, + simple_speed > -100.0 ? simple_speed : -100.0, + ao_state_names[ao_flight_state], + ao_k_height / 65536.0, + ao_k_speed / 65536.0 / 16.0, + ao_k_accel / 65536.0 / 16.0, + ao_avg_height, + drogue_height, + main_height, + ao_error_h_sq_avg +#if TELEMEGA + , ao_sample_orient, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), @@ -637,18 +649,11 @@ ao_insert(void) ao_data_static.hmc5883.x, ao_data_static.hmc5883.y, ao_data_static.hmc5883.z, - ao_mag_angle, + ao_mag_angle #endif - ao_state_names[ao_flight_state], - ao_k_height / 65536.0, - ao_k_speed / 65536.0 / 16.0, - ao_k_accel / 65536.0 / 16.0, - ao_avg_height, - drogue_height, - main_height, - ao_error_h_sq_avg); + ); #endif - + // if (ao_flight_state == ao_flight_landed) // ao_test_exit(); } diff --git a/src/test/plottest b/src/test/plottest index 7d253ff1..95337f10 100755 --- a/src/test/plottest +++ b/src/test/plottest @@ -7,10 +7,11 @@ set ytics border out nomirror set y2tics border out nomirror plot "$1" using 1:3 with lines axes x1y1 title "raw height",\ "$1" using 1:5 with lines axes x1y2 title "raw accel",\ -"$1" using 1:9 with lines axes x1y1 title "height",\ -"$1" using 1:11 with lines axes x1y2 title "speed",\ -"$1" using 1:13 with lines axes x1y2 title "accel",\ -"$1" using 1:17 with lines axes x1y1 title "drogue",\ -"$1" using 1:19 with lines axes x1y1 title "main",\ -"$1" using 1:21 with lines axes x1y1 title "error" +"$1" using 1:7 with lines axes x1y2 title "accel speed",\ +"$1" using 1:11 with lines axes x1y1 title "height",\ +"$1" using 1:13 with lines axes x1y2 title "speed",\ +"$1" using 1:15 with lines axes x1y2 title "accel",\ +"$1" using 1:19 with lines axes x1y1 title "drogue",\ +"$1" using 1:21 with lines axes x1y1 title "main",\ +"$1" using 1:23 with lines axes x1y1 title "error" EOF |