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[AUTO COMMIT] update change indication

This commit is contained in:
bresch 2023-03-30 14:36:44 +00:00 committed by Matthias Grob
parent ed7c4bc5d7
commit 62770c43f9
2 changed files with 34 additions and 34 deletions
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30
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
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@ -1,8 +1,8 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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@ -103,7 +103,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -119,7 +119,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -136,7 +136,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -147,7 +147,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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25790000,0.71,0.017,0.028,0.71,-0.53,-0.27,-1.2,-0.34,-0.26,-3.7e+02,-1.2e-05,-5.9e-05,5.9e-06,3.4e-05,-3.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,7.3e-05,7.8e-05,7.8e-05,7.4e-05,0.016,0.016,0.0079,0.04,0.04,0.035,4.7e-11,4.7e-11,2e-10,2.7e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
@ -302,7 +302,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
29990000,0.71,0.0031,0.0076,0.71,-2.1,-1.1,0.9,-9,-4.3,-3.7e+02,-1.2e-05,-5.7e-05,3.5e-06,-0.00014,-0.00025,-0.0011,0.21,0.0021,0.44,0,0,0,0,0,6.6e-05,7.7e-05,7.5e-05,6.7e-05,0.025,0.025,0.009,0.19,0.18,0.036,3.4e-11,3.4e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30090000,0.71,0.0031,0.0075,0.71,-2.1,-1,0.89,-9.2,-4.4,-3.7e+02,-1.2e-05,-5.7e-05,3.4e-06,-0.00015,-0.00024,-0.0011,0.21,0.0021,0.44,0,0,0,0,0,6.6e-05,7.7e-05,7.5e-05,6.7e-05,0.026,0.027,0.0091,0.2,0.2,0.036,3.4e-11,3.4e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30190000,0.71,0.0031,0.0074,0.71,-2,-1,0.88,-9.4,-4.5,-3.7e+02,-1.2e-05,-5.7e-05,3.4e-06,-0.00016,-0.00025,-0.0011,0.21,0.0021,0.44,0,0,0,0,0,6.6e-05,7.7e-05,7.5e-05,6.7e-05,0.025,0.025,0.009,0.2,0.19,0.037,3.4e-11,3.3e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30290000,0.71,0.003,0.0072,0.71,-2,-1,0.86,-9.6,-4.6,-3.7e+02,-1.2e-05,-5.7e-05,3.3e-06,-0.00017,-0.00024,-0.0011,0.21,0.0021,0.44,0,0,0,0,0,6.6e-05,7.8e-05,7.5e-05,6.7e-05,0.026,0.027,0.0091,0.21,0.21,0.037,3.4e-11,3.3e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30290000,0.71,0.003,0.0072,0.71,-2,-1,0.86,-9.6,-4.6,-3.7e+02,-1.2e-05,-5.7e-05,3.3e-06,-0.00017,-0.00024,-0.0011,0.21,0.0021,0.44,0,0,0,0,0,6.6e-05,7.8e-05,7.5e-05,6.6e-05,0.026,0.027,0.0091,0.21,0.21,0.037,3.4e-11,3.3e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30390000,0.71,0.0031,0.007,0.71,-2,-1,0.85,-9.9,-4.7,-3.7e+02,-1.3e-05,-5.7e-05,3.2e-06,-0.00018,-0.00023,-0.001,0.21,0.0021,0.44,0,0,0,0,0,6.5e-05,7.8e-05,7.5e-05,6.6e-05,0.025,0.025,0.009,0.21,0.2,0.036,3.3e-11,3.3e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30490000,0.71,0.0029,0.0068,0.71,-2,-1,0.83,-10,-4.8,-3.7e+02,-1.3e-05,-5.7e-05,3.2e-06,-0.00018,-0.00022,-0.001,0.21,0.0021,0.44,0,0,0,0,0,6.5e-05,7.8e-05,7.5e-05,6.6e-05,0.026,0.027,0.0091,0.22,0.22,0.037,3.3e-11,3.3e-11,1.2e-10,2.7e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
30590000,0.71,0.0029,0.0065,0.71,-1.9,-1,0.79,-10,-4.9,-3.7e+02,-1.3e-05,-5.7e-05,3.3e-06,-0.00019,-0.00021,-0.001,0.21,0.0021,0.44,0,0,0,0,0,6.5e-05,7.8e-05,7.5e-05,6.6e-05,0.025,0.025,0.009,0.21,0.21,0.037,3.3e-11,3.2e-11,1.2e-10,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
@ -323,7 +323,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
32090000,0.71,0.00049,-0.00086,0.71,-1.6,-0.86,0.72,-13,-6.3,-3.7e+02,-1.4e-05,-5.7e-05,2.5e-06,-0.00029,-7.7e-06,-0.00096,0.21,0.0021,0.44,0,0,0,0,0,6.4e-05,7.8e-05,7.3e-05,6.4e-05,0.026,0.026,0.0087,0.29,0.29,0.037,3e-11,3e-11,1e-10,2.6e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
32190000,0.71,0.00028,-0.0016,0.71,-1.5,-0.85,0.72,-13,-6.4,-3.7e+02,-1.4e-05,-5.7e-05,2.3e-06,-0.0003,1.2e-05,-0.00096,0.21,0.0021,0.44,0,0,0,0,0,6.4e-05,7.8e-05,7.3e-05,6.3e-05,0.025,0.025,0.0086,0.29,0.29,0.036,2.9e-11,2.9e-11,9.9e-11,2.6e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
32290000,0.71,4.7e-05,-0.0024,0.71,-1.5,-0.84,0.71,-13,-6.4,-3.7e+02,-1.4e-05,-5.7e-05,2.3e-06,-0.00031,2.8e-05,-0.00095,0.21,0.0021,0.44,0,0,0,0,0,6.4e-05,7.8e-05,7.3e-05,6.3e-05,0.026,0.026,0.0086,0.3,0.3,0.036,3e-11,2.9e-11,9.8e-11,2.6e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
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32490000,0.71,-0.00026,-0.0033,0.71,-1.4,-0.81,0.72,-14,-6.6,-3.7e+02,-1.4e-05,-5.7e-05,2.3e-06,-0.00031,4.7e-05,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,6.3e-05,7.8e-05,7.3e-05,6.3e-05,0.026,0.026,0.0085,0.31,0.31,0.037,2.9e-11,2.9e-11,9.6e-11,2.6e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
32590000,0.71,-0.00025,-0.0035,0.71,-1.4,-0.8,0.71,-14,-6.7,-3.7e+02,-1.5e-05,-5.7e-05,2.2e-06,-0.00032,5.5e-05,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,6.3e-05,7.8e-05,7.2e-05,6.3e-05,0.025,0.025,0.0084,0.31,0.31,0.036,2.9e-11,2.9e-11,9.5e-11,2.6e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
32690000,0.71,-0.0003,-0.0036,0.71,-1.4,-0.79,0.71,-14,-6.8,-3.7e+02,-1.5e-05,-5.7e-05,2.2e-06,-0.00032,6e-05,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,6.3e-05,7.8e-05,7.3e-05,6.3e-05,0.026,0.026,0.0085,0.32,0.32,0.036,2.9e-11,2.9e-11,9.4e-11,2.6e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
@ -372,7 +372,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
36990000,-0.68,0.0022,-0.0036,0.74,0.15,0.19,-0.16,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,4.7e-06,-0.0015,0.001,-0.00093,0.21,0.0021,0.44,0,0,0,0,0,5.9e-05,1.9e-05,2e-05,6.1e-05,0.051,0.052,0.0056,0.54,0.54,0.031,2.8e-11,2.8e-11,6.8e-11,2.1e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
37090000,-0.68,0.0021,-0.0035,0.74,0.15,0.2,-0.15,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,4.9e-06,-0.0015,0.001,-0.00093,0.21,0.0021,0.44,0,0,0,0,0,5.9e-05,1.9e-05,2e-05,6.1e-05,0.056,0.057,0.0057,0.55,0.55,0.031,2.8e-11,2.9e-11,6.7e-11,2.1e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
37190000,-0.68,0.0024,-0.0034,0.74,0.13,0.17,-0.14,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,5.1e-06,-0.0016,0.0011,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,5.9e-05,1.8e-05,1.9e-05,6.1e-05,0.05,0.051,0.0057,0.55,0.55,0.031,2.8e-11,2.9e-11,6.7e-11,2e-06,1.9e-06,5e-08,0,0,0,0,0,0,0,0
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37290000,-0.68,0.0024,-0.0034,0.74,0.13,0.18,-0.14,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,5.3e-06,-0.0016,0.0011,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,5.8e-05,1.8e-05,1.9e-05,6.1e-05,0.055,0.056,0.0059,0.56,0.56,0.031,2.8e-11,2.9e-11,6.6e-11,2e-06,1.9e-06,5e-08,0,0,0,0,0,0,0,0
37390000,-0.68,0.0026,-0.0033,0.74,0.1,0.15,-0.13,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,5.4e-06,-0.0017,0.0012,-0.00094,0.21,0.0021,0.44,0,0,0,0,0,5.8e-05,1.8e-05,1.9e-05,6.1e-05,0.049,0.05,0.0059,0.56,0.56,0.031,2.9e-11,2.9e-11,6.6e-11,1.9e-06,1.8e-06,5e-08,0,0,0,0,0,0,0,0
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37590000,-0.68,0.0027,-0.0031,0.74,0.084,0.13,-0.12,-17,-8.2,-3.7e+02,-1.7e-05,-5.7e-05,5.7e-06,-0.0018,0.0012,-0.00095,0.21,0.0021,0.44,0,0,0,0,0,5.8e-05,1.7e-05,1.8e-05,6.1e-05,0.048,0.049,0.0061,0.57,0.57,0.031,2.9e-11,2.9e-11,6.5e-11,1.8e-06,1.7e-06,5e-08,0,0,0,0,0,0,0,0

1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.0094 -0.01 -9.8e-05 -3.2e-06 0.00023 7.3e-05 -0.011 7.1e-06 2.2e-06 -0.00045 0 0 0 0 0 0 0 0 0 0 0 0 0 0 4.9e-07 0.0025 0.0025 0.0018 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
3 90000 1 -0.0096 -0.01 -0.02 -0.0004 0.0026 -0.026 -1.4e-05 0.00011 -0.0023 0 0 0 0 0 0 0.19 0 -4.7e-10 0.4 0 0 0 0 0 5.2e-07 0.0026 0.0026 0.0011 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 9.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 1 -0.0096 -0.011 -0.02 0.0002 0.0039 -0.041 6e-06 0.00043 -0.0044 -3e-13 -2.3e-14 5.8e-15 0 0 -2e-11 0.19 0 -4.7e-10 0.4 0 0 0 0 0 5.8e-07 0.0027 0.0027 0.0008 25 25 10 1e+02 1e+02 1 1e-06 1e-06 9.7e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 1 -0.0097 -0.011 -0.02 0.0012 0.0063 -0.053 5e-05 0.00036 -0.007 9.1e-12 9.1e-13 -1.7e-13 0 0 -4.8e-09 0.19 0 -4.7e-10 0.4 0 0 0 0 0 6.8e-07 0.0029 0.0029 0.00067 25 25 9.6 0.37 0.37 0.41 1e-06 1e-06 9.4e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 1 -0.0089 -0.012 0.046 0.0026 0.0083 -0.059 0.00024 0.0011 -0.0094 -1.1e-10 2.8e-11 2.8e-12 0 0 -4.5e-08 0.17 0.0017 0.41 0 0 0 0 0 7e-07 0.0031 0.0031 0.00062 25 25 8.1 0.97 0.97 0.32 1e-06 1e-06 8.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
7 490000 0.87 -0.0023 -0.015 0.5 0.0023 0.0057 -0.06 0.0002 0.00051 -0.011 1.6e-08 -3.8e-09 -3.3e-10 0 0 -1.6e-07 0.14 0.0014 0.42 0 0 0 0 0 2.6e-06 0.0033 0.0033 0.00061 7.8 7.8 5.9 0.34 0.34 0.31 1e-06 1e-06 8.3e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
8 590000 0.76 0.00067 -0.015 0.65 0.00071 0.0084 -0.059 0.00037 0.0012 -0.012 1.6e-08 -3.5e-09 -3.2e-10 0 0 -3.4e-07 0.18 0.0018 0.43 0 0 0 0 0 1.5e-05 0.0036 0.0036 0.00061 7.9 7.9 4.2 0.67 0.67 0.32 1e-06 1e-06 7.7e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
103 10090000 0.7 0.0017 -0.014 0.71 -0.037 0.026 -0.096 -0.058 0.037 -3.7e+02 -1.3e-05 -5.7e-05 9.1e-07 0 0 -0.00091 0.21 0.0021 0.44 0 0 0 0 0 9.7e-05 0.00041 0.00041 9.5e-05 1.6 1.6 0.08 6.9 6.9 0.085 8e-09 8e-09 3e-09 4e-06 4e-06 1.6e-06 0 0 0 0 0 0 0 0
104 10190000 0.7 0.0017 -0.014 0.71 -0.038 0.029 -0.096 -0.061 0.039 -3.7e+02 -1.3e-05 -5.7e-05 3.4e-07 0 0 -0.00093 0.21 0.0021 0.44 0 0 0 0 0 9.7e-05 0.00042 0.00042 9.5e-05 1.7 1.7 0.078 7.6 7.6 0.084 8e-09 8e-09 3e-09 4e-06 4e-06 1.4e-06 0 0 0 0 0 0 0 0
105 10290000 0.7 0.0017 -0.014 0.71 -0.038 0.028 -0.084 -0.066 0.042 -3.7e+02 -1.3e-05 -5.7e-05 -1.8e-08 0 0 -0.00098 0.21 0.0021 0.44 0 0 0 0 0 9.7e-05 0.00043 0.00043 9.5e-05 1.8 1.8 0.076 8.3 8.3 0.085 8e-09 8e-09 3e-09 4e-06 4e-06 1.4e-06 0 0 0 0 0 0 0 0
106 10390000 0.7 0.0016 -0.014 0.71 0.01 -0.02 0.0096 0.0009 -0.0018 -3.7e+02 -1.3e-05 -5.7e-05 1.3e-09 1.2e-09 -6.4e-10 5.1e-10 -0.001 0.21 0.0021 0.44 0 0 0 0 0 9.6e-05 0.00044 0.00044 9.4e-05 0.25 0.25 0.56 0.25 0.25 0.078 8e-09 8e-09 3e-09 4e-06 4e-06 1.3e-06 0 0 0 0 0 0 0 0
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38
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

@ -1,6 +1,6 @@
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 -0.011 -0.01 0.00012 0.00023 0.00033 -0.00013 -0.01 1e-05 -3.9e-06 -3.8e-06 -0.00042 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5.8e-07 0.0025 0.0025 0.0018 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 1e-06 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
3 90000 0.98 -0.0095 -0.012 0.18 -5.5e-05 -0.0032 -0.024 -3.6e-06 -0.00014 -0.0021 0 0 0 0 0 0 0.2 9.3e-09 -3.3e-09 0.43 0 0 0 0 0 8.9e-07 0.0026 0.0026 0.0011 25 25 10 1e+02 1e+02 1e+02 1e-06 1e-06 9.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
4 190000 0.98 -0.0092 -0.013 0.2 -0.0013 -0.0036 -0.037 -4.4e-05 -0.00046 -0.017 5.2e-12 -4.3e-12 -1.5e-13 0 0 -6.8e-10 0.2 0.011 0.43 0 0 0 0 0 2.8e-06 0.0027 0.0027 0.00081 25 25 10 1e+02 1e+02 1 1e-06 1e-06 9.7e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
5 290000 0.98 -0.0092 -0.013 0.2 -0.0016 -0.0053 -0.046 -0.00015 -0.00032 -0.018 4.4e-11 -5.4e-11 -2.6e-12 0 0 -2.9e-08 0.2 0.011 0.43 0 0 0 0 0 6.6e-06 0.0029 0.0029 0.00068 25 25 9.6 0.37 0.37 0.41 1e-06 1e-06 9.4e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
6 390000 0.98 -0.0095 -0.013 0.19 -0.00033 -0.0065 -0.063 -0.00029 -0.00087 -0.013 -6.7e-11 -6.3e-11 3e-12 0 0 8.8e-08 0.2 0.002 0.44 0 0 0 0 0 1.1e-05 0.0031 0.0031 0.00062 25 25 8.1 0.97 0.97 0.32 1e-06 1e-06 8.9e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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