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ekf-pdf-report: plot bias using bias msg instead of state vector

This commit is contained in:
bresch 2023-11-20 16:51:02 +01:00 committed by Daniel Agar
parent a501262a6b
commit f2482d7157
1 changed files with 15 additions and 10 deletions
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25
Tools/ecl_ekf/plotting/pdf_report.py
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@ -43,6 +43,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
except:
raise PreconditionError('could not find estimator_states instance', multi_instance)
try:
estimator_sensor_bias = ulog.get_dataset('estimator_sensor_bias', multi_instance).data
except:
raise PreconditionError('could not find estimator_sensor_bias instance', multi_instance)
try:
estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
@ -299,21 +304,21 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
data_plot.save()
data_plot.close()
# Plot the delta angle bias estimates
# Plot the gyro bias estimates
data_plot = CheckFlagsPlot(
1e-6 * estimator_states['timestamp'], estimator_states,
[['states[10]'], ['states[11]'], ['states[12]']],
x_label='time (sec)', y_labels=['X (rad)', 'Y (rad)', 'Z (rad)'],
plot_title='Delta Angle Bias Estimates', annotate=False, pdf_handle=pdf_pages)
1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
[['gyro_bias[0]'], ['gyro_bias[1]'], ['gyro_bias[2]']],
x_label='time (sec)', y_labels=['X (rad/s)', 'Y (rad/s)', 'Z (rad/s)'],
plot_title='Gyro Bias Estimates', annotate=False, pdf_handle=pdf_pages)
data_plot.save()
data_plot.close()
# Plot the delta velocity bias estimates
# Plot the accel bias estimates
data_plot = CheckFlagsPlot(
1e-6 * estimator_states['timestamp'], estimator_states,
[['states[13]'], ['states[14]'], ['states[15]']],
x_label='time (sec)', y_labels=['X (m/s)', 'Y (m/s)', 'Z (m/s)'],
plot_title='Delta Velocity Bias Estimates', annotate=False, pdf_handle=pdf_pages)
1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
[['accel_bias[0]'], ['accel_bias[1]'], ['accel_bias[2]']],
x_label='time (sec)', y_labels=['X (m/s^2)', 'Y (m/s^2)', 'Z (m/s^2)'],
plot_title='Accel Bias Estimates', annotate=False, pdf_handle=pdf_pages)
data_plot.save()
data_plot.close()