From 20427ae4965f756aac0cedc5179a1c45b9a781f2 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Mon, 21 Mar 2011 19:59:27 +0900 Subject: altos: Add nickle kalman implementation. This generates the constants needed to implement Kalman filtering in the flight firmware. Signed-off-by: Keith Packard --- src/kalman/plotkalman | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100755 src/kalman/plotkalman (limited to 'src/kalman/plotkalman') diff --git a/src/kalman/plotkalman b/src/kalman/plotkalman new file mode 100755 index 00000000..d2041dfb --- /dev/null +++ b/src/kalman/plotkalman @@ -0,0 +1,24 @@ +#!/bin/sh +for i in "$@"; do +gnuplot -p << EOF +set title "$i" +set ylabel "height (m)" +set y2label "velocity (m/s), acceleration (m/s²)" +set xlabel "time (s)" +set xtics border out nomirror +set ytics border out nomirror +set y2tics border out nomirror +plot "$i" using 1:2 with lines lt 1 axes x1y1 title "raw height",\ + "$i" using 1:3 with lines lt 1 axes x1y2 title "raw speed",\ + "$i" using 1:4 with lines lt 1 axes x1y2 title "raw accel",\ + "$i" using 1:5 with lines lt 2 axes x1y1 title "both height",\ + "$i" using 1:6 with lines lt 2 axes x1y2 title "both vel",\ + "$i" using 1:7 with lines lt 2 axes x1y2 title "both accel",\ + "$i" using 1:8 with lines lt 3 axes x1y1 title "accel height",\ + "$i" using 1:9 with lines lt 3 axes x1y2 title "accel vel",\ + "$i" using 1:10 with lines lt 3 axes x1y2 title "accel accel",\ + "$i" using 1:11 with lines lt 4 axes x1y1 title "baro height",\ + "$i" using 1:12 with lines lt 4 axes x1y2 title "baro vel",\ + "$i" using 1:13 with lines lt 4 axes x1y2 title "baro accel" +EOF +done -- cgit v1.2.3