altos: Build test framework for kalman filter

This has some known flight data and generates kalman filter
information for them to test

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 17 insertions, 0 deletions

diff --git a/src/kalman/plotmicrospeed b/src/kalman/plotmicrospeed
new file mode 100755
index 00000000..02f5d745
--- /dev/null
+++ b/src/kalman/plotmicrospeed
@@ -0,0 +1,17 @@
+#!/bin/sh
+for i in "$@"; do
+gnuplot -p << EOF
+set title "$i"
+set ylabel "height (m)"
+set y2label "speed"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+plot "$i" using 1:3 with lines lt 1 axes x1y1 title "raw height",\
+     "$i" using 1:7 with lines lt 2 axes x1y1 title "kalman height",\
+     "$i" using 1:8 with lines lt 3 axes x1y1 title "max height",\
+     "$i" using 1:6 with lines lt 4 axes x1y2 title "kalman accel",\
+     "$i" using 1:12 with lines lt 5 axes x1y2 title "valid"
+EOF
+done