AP_Scripting: add ahrs-print-variances example
This commit is contained in:
parent
5eae007d49
commit
8aba1655a2
17
libraries/AP_Scripting/examples/ahrs-print-variances.lua
Normal file
17
libraries/AP_Scripting/examples/ahrs-print-variances.lua
Normal file
@ -0,0 +1,17 @@
|
||||
-- This script displays the ahrs variances at 1hz
|
||||
-- get_variances provides the innovations normalised using the innovation variance
|
||||
-- a value of 0 indicates perfect consistency between the measurement and the EKF solution
|
||||
-- a value of 1 is the maximum inconsistency that will be accepted by the filter
|
||||
-- nil is returned for all arguments if variances are not available
|
||||
|
||||
function update() -- this is the loop which periodically runs)
|
||||
vel_variance, pos_variance, height_variance, mag_variance, airspeed_variance = ahrs:get_variances()
|
||||
if vel_variance then
|
||||
gcs:send_text(0, string.format("Variances Pos:%.1f Vel:%.1f Hgt:%.1f Mag:%.1f", pos_variance, vel_variance, height_variance, mag_variance:length()))
|
||||
else
|
||||
gcs:send_text(0, string.format("Failed to retrieve variances"))
|
||||
end
|
||||
return update, 1000 -- reschedules the loop
|
||||
end
|
||||
|
||||
return update() -- run immediately before starting to reschedule
|
Loading…
Reference in New Issue
Block a user