forked from Archive/PX4-Autopilot
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)
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@ -227,35 +227,52 @@ bool Ekf::fuseDeclination(float decl_sigma)
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return false;
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}
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// observation variance (rad**2)
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const float R_DECL = sq(decl_sigma);
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float decl_measurement = NAN;
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VectorState H;
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float decl_pred;
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float innovation_variance;
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if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
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&& PX4_ISFINITE(_mag_declination_gps)
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) {
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decl_measurement = _mag_declination_gps;
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// TODO: review getMagDeclination() usage, use mag_I, _mag_declination_gps, or parameter?
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sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
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const float innovation = wrap_pi(decl_pred - getMagDeclination());
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if (innovation_variance < R_DECL) {
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// variance calculation is badly conditioned
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return false;
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} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
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&& PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
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) {
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decl_measurement = math::radians(_params.mag_declination_deg);
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}
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// Calculate the Kalman gains
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VectorState Kfusion = P * H / innovation_variance;
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if (PX4_ISFINITE(decl_measurement)) {
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const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation);
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// observation variance (rad**2)
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const float R_DECL = sq(decl_sigma);
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_fault_status.flags.bad_mag_decl = !is_fused;
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VectorState H;
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float decl_pred;
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float innovation_variance;
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if (is_fused) {
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limitDeclination();
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sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
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const float innovation = wrap_pi(decl_pred - decl_measurement);
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if (innovation_variance < R_DECL) {
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// variance calculation is badly conditioned
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return false;
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}
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// Calculate the Kalman gains
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VectorState Kfusion = P * H / innovation_variance;
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const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation);
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_fault_status.flags.bad_mag_decl = !is_fused;
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if (is_fused) {
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limitDeclination();
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}
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return is_fused;
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}
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return is_fused;
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return false;
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}
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void Ekf::limitDeclination()
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@ -274,7 +291,9 @@ void Ekf::limitDeclination()
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// set to 50% of the horizontal strength from geo tables if location is known
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h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
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} else if (_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) {
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} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
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&& PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
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) {
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// use parameter value if GPS isn't available
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decl_reference = math::radians(_params.mag_declination_deg);
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}
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@ -270,122 +270,122 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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35790000,0.66,0.00043,-0.0049,0.76,-2.2,-1.5,-0.2,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.23,0.26,-0.11,-0.2,-0.049,0.47,-0.004,0.0042,-0.032,0,0,0.0002,0.0002,0.019,0.22,0.24,0.0091,0.55,0.56,0.046,5.7e-07,5.8e-07,4.9e-06,0.017,0.016,9e-05,6.3e-06,4.3e-06,0.00064,6.6e-06,6.1e-06,0.00064,1,1
|
||||
35890000,0.66,0.00036,-0.0049,0.76,-2.2,-1.5,-0.19,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0041,0.0043,-0.032,0,0,0.0002,0.0002,0.019,0.24,0.26,0.0087,0.59,0.6,0.045,5.7e-07,5.8e-07,4.9e-06,0.017,0.016,9e-05,6e-06,4.2e-06,0.00064,6.4e-06,5.9e-06,0.00064,1,1
|
||||
35990000,0.66,0.00035,-0.0049,0.76,-2.2,-1.4,-0.18,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0042,0.0044,-0.032,0,0,0.0002,0.0002,0.019,0.26,0.28,0.0084,0.64,0.66,0.045,5.7e-07,5.8e-07,4.9e-06,0.017,0.016,9e-05,5.9e-06,4.1e-06,0.00064,6.2e-06,5.7e-06,0.00064,1,1
|
||||
36090000,0.66,0.00034,-0.0048,0.76,-2.1,-1.4,-0.18,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0043,0.0045,-0.032,0,0,0.0002,0.0002,0.019,0.29,0.31,0.008,0.69,0.71,0.044,5.8e-07,5.8e-07,4.9e-06,0.017,0.016,9e-05,5.7e-06,4.1e-06,0.00064,6.1e-06,5.5e-06,0.00064,1,1
|
||||
36190000,0.66,0.00031,-0.0048,0.76,-2.1,-1.4,-0.17,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0043,0.0046,-0.032,0,0,0.0002,0.0002,0.019,0.31,0.33,0.0077,0.76,0.78,0.043,5.8e-07,5.8e-07,4.9e-06,0.017,0.016,9e-05,5.5e-06,4e-06,0.00064,6e-06,5.4e-06,0.00064,1,1
|
||||
36290000,0.66,0.00033,-0.0047,0.76,-2.1,-1.4,-0.16,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0044,0.0047,-0.032,0,0,0.00019,0.0002,0.019,0.34,0.36,0.0075,0.83,0.86,0.043,5.8e-07,5.9e-07,5e-06,0.017,0.016,9e-05,5.4e-06,3.9e-06,0.00064,5.8e-06,5.3e-06,0.00064,1,1
|
||||
36390000,0.66,0.00029,-0.0047,0.76,-2.1,-1.4,-0.15,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.049,0.46,-0.0045,0.0048,-0.032,0,0,0.00019,0.0002,0.02,0.36,0.39,0.0072,0.91,0.94,0.042,5.8e-07,5.9e-07,5e-06,0.017,0.016,9e-05,5.3e-06,3.8e-06,0.00064,5.7e-06,5.1e-06,0.00064,1,1
|
||||
36490000,0.66,0.00023,-0.0046,0.76,-2.1,-1.4,-0.15,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0046,0.0049,-0.032,0,0,0.00019,0.0002,0.02,0.39,0.42,0.0069,1,1,0.041,5.8e-07,5.9e-07,5e-06,0.017,0.016,9e-05,5.2e-06,3.8e-06,0.00064,5.6e-06,5e-06,0.00064,1,1
|
||||
36590000,0.66,0.00024,-0.0045,0.76,-2.1,-1.4,-0.14,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0047,0.005,-0.032,0,0,0.00019,0.0002,0.02,0.42,0.45,0.0067,1.1,1.1,0.041,5.8e-07,5.9e-07,5e-06,0.017,0.016,9e-05,5e-06,3.7e-06,0.00064,5.5e-06,4.9e-06,0.00064,1,1
|
||||
36690000,0.66,0.00025,-0.0045,0.76,-2.1,-1.4,-0.13,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0047,0.005,-0.032,0,0,0.00019,0.0002,0.02,0.45,0.48,0.0066,1.2,1.3,0.04,5.8e-07,5.9e-07,5e-06,0.017,0.016,9e-05,4.9e-06,3.6e-06,0.00064,5.4e-06,4.8e-06,0.00064,1,1
|
||||
36790000,0.66,0.00022,-0.0044,0.76,-2.1,-1.4,-0.12,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00016,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0047,0.005,-0.032,0,0,0.00019,0.0002,0.02,0.48,0.51,0.0064,1.3,1.4,0.04,5.8e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.8e-06,3.6e-06,0.00064,5.3e-06,4.7e-06,0.00064,1,1
|
||||
36890000,0.66,0.00021,-0.0043,0.76,-2.1,-1.4,-0.11,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0048,0.0051,-0.032,0,0,0.00019,0.0002,0.02,0.51,0.54,0.0062,1.5,1.5,0.039,5.8e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.7e-06,3.5e-06,0.00064,5.2e-06,4.6e-06,0.00064,1,1
|
||||
36990000,0.66,0.00025,-0.0043,0.76,-2.1,-1.4,-0.11,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.2,-0.05,0.46,-0.0048,0.0051,-0.032,0,0,0.00019,0.0002,0.02,0.55,0.58,0.0061,1.6,1.7,0.039,5.8e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.7e-06,3.5e-06,0.00064,5.1e-06,4.5e-06,0.00064,1,1
|
||||
37090000,0.66,0.00027,-0.0042,0.76,-2,-1.4,-0.1,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0049,0.0052,-0.032,0,0,0.00019,0.0002,0.02,0.58,0.61,0.006,1.8,1.9,0.038,5.8e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.6e-06,3.4e-06,0.00064,5e-06,4.4e-06,0.00064,1,1
|
||||
37190000,0.66,0.00026,-0.0042,0.76,-2,-1.4,-0.093,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0049,0.0053,-0.032,0,0,0.00019,0.0002,0.02,0.62,0.65,0.0059,2,2.1,0.038,5.9e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.5e-06,3.4e-06,0.00064,5e-06,4.4e-06,0.00064,1,1
|
||||
37290000,0.66,0.00021,-0.0041,0.76,-2,-1.3,-0.086,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.005,0.0053,-0.032,0,0,0.00019,0.0002,0.02,0.65,0.69,0.0058,2.2,2.3,0.037,5.9e-07,5.9e-07,5e-06,0.017,0.016,9.1e-05,4.4e-06,3.3e-06,0.00064,4.9e-06,4.3e-06,0.00064,1,1
|
||||
37390000,0.66,0.00025,-0.0041,0.76,-2,-1.3,-0.08,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.005,0.0054,-0.032,0,0,0.00019,0.0002,0.02,0.69,0.73,0.0057,2.4,2.5,0.037,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.4e-06,3.3e-06,0.00064,4.8e-06,4.2e-06,0.00064,1,1
|
||||
37490000,0.66,0.00024,-0.004,0.76,-2,-1.3,-0.073,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.005,0.0054,-0.032,0,0,0.00019,0.0002,0.02,0.73,0.77,0.0056,2.6,2.8,0.036,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.3e-06,3.2e-06,0.00064,4.8e-06,4.2e-06,0.00064,1,1
|
||||
37590000,0.66,0.00025,-0.004,0.76,-2,-1.3,-0.065,-1e+06,1.2e+04,-3.7e+02,-0.0015,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.005,0.0055,-0.032,0,0,0.00019,0.0002,0.02,0.77,0.81,0.0056,2.9,3.1,0.036,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.2e-06,3.2e-06,0.00064,4.7e-06,4.1e-06,0.00064,1,1
|
||||
37690000,0.66,0.00019,-0.0039,0.76,-2,-1.3,-0.056,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0051,0.0055,-0.032,0,0,0.00019,0.0002,0.02,0.81,0.85,0.0055,3.2,3.4,0.036,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.2e-06,3.2e-06,0.00064,4.6e-06,4e-06,0.00064,1,1
|
||||
37790000,0.66,0.00013,-0.0039,0.76,-2,-1.3,-0.048,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0051,0.0055,-0.032,0,0,0.00019,0.0002,0.02,0.85,0.9,0.0055,3.5,3.7,0.035,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.1e-06,3.1e-06,0.00064,4.6e-06,4e-06,0.00064,1,1
|
||||
37890000,0.66,0.00011,-0.0039,0.75,-2,-1.3,-0.041,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0051,0.0055,-0.032,0,0,0.00019,0.0002,0.02,0.9,0.94,0.0054,3.8,4,0.035,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4.1e-06,3.1e-06,0.00064,4.5e-06,3.9e-06,0.00064,1,1
|
||||
37990000,0.66,5.5e-05,-0.0039,0.75,-1.9,-1.3,-0.033,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0052,0.0056,-0.032,0,0,0.00019,0.0002,0.02,0.94,0.99,0.0054,4.2,4.4,0.035,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4e-06,3.1e-06,0.00064,4.5e-06,3.9e-06,0.00064,1,1
|
||||
38090000,0.66,2.6e-05,-0.0038,0.75,-1.9,-1.3,-0.023,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0052,0.0056,-0.032,0,0,0.00019,0.0002,0.02,0.99,1,0.0054,4.6,4.8,0.034,5.9e-07,6e-07,5e-06,0.017,0.016,9.1e-05,4e-06,3e-06,0.00064,4.4e-06,3.8e-06,0.00064,1,1
|
||||
38190000,0.66,3.8e-05,-0.0038,0.75,-1.9,-1.3,-0.016,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0052,0.0056,-0.032,0,0,0.00019,0.0002,0.02,1,1.1,0.0053,5,5.2,0.034,6e-07,6e-07,5e-06,0.017,0.016,9.2e-05,3.9e-06,3e-06,0.00064,4.3e-06,3.8e-06,0.00064,1,1
|
||||
38290000,0.66,1.6e-05,-0.0038,0.75,-1.9,-1.3,-0.0091,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0052,0.0056,-0.032,0,0,0.00019,0.0002,0.02,1.1,1.1,0.0053,5.4,5.7,0.034,6e-07,6e-07,5e-06,0.017,0.016,9.2e-05,3.9e-06,3e-06,0.00064,4.3e-06,3.8e-06,0.00064,1,1
|
||||
38390000,0.66,3.2e-05,-0.0038,0.75,-1.9,-1.3,-0.0024,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0053,0.0057,-0.032,0,0,0.00019,0.0002,0.02,1.1,1.2,0.0053,5.9,6.2,0.034,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.9e-06,3e-06,0.00064,4.3e-06,3.7e-06,0.00064,1,1
|
||||
38490000,0.66,1e-05,-0.0037,0.75,-1.9,-1.3,0.0042,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0053,0.0057,-0.032,0,0,0.00019,0.0002,0.02,1.2,1.2,0.0053,6.4,6.7,0.033,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.8e-06,2.9e-06,0.00064,4.2e-06,3.7e-06,0.00064,1,1
|
||||
38590000,0.66,5.1e-05,-0.0037,0.75,-1.9,-1.3,0.01,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0053,0.0057,-0.032,0,0,0.00019,0.0002,0.02,1.2,1.3,0.0053,6.9,7.3,0.033,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.8e-06,2.9e-06,0.00064,4.2e-06,3.6e-06,0.00064,1,1
|
||||
38690000,0.66,1.1e-05,-0.0036,0.75,-1.9,-1.3,0.017,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0053,0.0058,-0.032,0,0,0.00019,0.0002,0.02,1.3,1.3,0.0053,7.5,7.9,0.033,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.7e-06,2.9e-06,0.00064,4.1e-06,3.6e-06,0.00064,1,1
|
||||
38790000,0.66,-5.9e-06,-0.0036,0.75,-1.8,-1.3,0.023,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0054,0.0058,-0.032,0,0,0.00019,0.0002,0.02,1.3,1.4,0.0053,8.1,8.6,0.033,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.7e-06,2.8e-06,0.00064,4.1e-06,3.6e-06,0.00064,1,1
|
||||
38890000,0.66,-0.00011,-0.0034,0.75,-1.8,-1.2,0.52,-1e+06,1.2e+04,-3.7e+02,-0.0014,-0.0062,0.00017,-0.22,0.26,-0.11,-0.21,-0.05,0.46,-0.0054,0.0058,-0.032,0,0,0.00019,0.0002,0.02,1.4,1.4,0.0053,8.8,9.2,0.033,6e-07,6.1e-07,5e-06,0.017,0.016,9.2e-05,3.7e-06,2.8e-06,0.00064,4e-06,3.5e-06,0.00064,1,1
|
||||
|
|
|
Loading…
Reference in New Issue