From 0e7277b0aaee847c303491e9fb97894de812dce9 Mon Sep 17 00:00:00 2001
From: Stefano Belletti <stefano.belletti@skywarder.eu>
Date: Sat, 21 Dec 2024 16:55:00 +0100
Subject: [PATCH] New noises implementation, time added to acquisition_sys
---
commonFunctions/sensors/Sensor2D.m | 28 +++---
commonFunctions/sensors/Sensor3D.m | 35 ++++++-
commonFunctions/sensors/SensorFault.m | 33 +++++--
commonFunctions/sensors/SensorGPS.m | 4 +-
commonFunctions/sensors/acquisition_Sys.m | 20 ++--
.../initSensors2024_Lyra_Portugal_October.m | 92 +++++++++++++++----
6 files changed, 159 insertions(+), 53 deletions(-)
diff --git a/commonFunctions/sensors/Sensor2D.m b/commonFunctions/sensors/Sensor2D.m
index e7f35d8..3106223 100644
--- a/commonFunctions/sensors/Sensor2D.m
+++ b/commonFunctions/sensors/Sensor2D.m
@@ -19,6 +19,7 @@ classdef Sensor2D < handle
% noises
noiseType; % White (default) or Pink
noiseDataTrack1;
+ noiseFactor;
noiseVariance; % Defining gaussian white noise
% offset
@@ -32,11 +33,11 @@ classdef Sensor2D < handle
% creating a new sensor
end
- function [outputArg] = sens(obj,inputArg,temp)
+ function [outputArg] = sens(obj,inputArg,temp,t)
inputArg = obj.addOffset(inputArg);
inputArg = obj.add2DOffset(inputArg,temp);
inputArg = obj.addTempOffset(inputArg,temp);
- inputArg = obj.addNoise(inputArg);
+ inputArg = obj.addNoise(inputArg,t);
inputArg = obj.quantization(inputArg);
inputArg = obj.saturation(inputArg);
outputArg = inputArg;
@@ -65,15 +66,20 @@ classdef Sensor2D < handle
outputArg = inputArg;
end
- function outputArg = addNoise(obj,inputArg)
- if isempty(obj.noiseType)
- obj.noiseType = "white";
- end
-
- if obj.noiseType == "white"
- inputArg = inputArg+sqrt(obj.noiseVariance).*randn(length(inputArg),1);
- elseif obj.noiseType == "pink"
- % TBI
+ function outputArg = addNoise(obj,inputArg,t)
+ if ~isempty(obj.noiseVariance) % check for old results
+ inputArg = inputArg + sqrt(obj.noiseVariance).*randn(length(inputArg),1);
+ elseif ~isempty(obj.noiseDataTrack1)
+ if strcmp(obj.noiseType, "white")
+ inputArg = inputArg + sqrt(obj.noiseDataTrack1*obj.noiseFactor).*randn(length(inputArg),1);
+ elseif strcmp(obj.noiseType, "pink")
+ for ii = 1:length(obj.noiseDataTrack1.peaks_vect_f)
+ inputArg = inputArg + obj.noiseDataTrack1.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack1.peaks_vect_f(ii)*t + randn(1));
+ end
+ inputArg = inputArg + sqrt(obj.noiseDataTrack1.variance*obj.noiseFactor).*randn(length(inputArg),1);
+ else
+ error("This noise is not defined")
+ end
end
outputArg = inputArg;
end
diff --git a/commonFunctions/sensors/Sensor3D.m b/commonFunctions/sensors/Sensor3D.m
index 03f06aa..e3564e5 100644
--- a/commonFunctions/sensors/Sensor3D.m
+++ b/commonFunctions/sensors/Sensor3D.m
@@ -34,7 +34,7 @@ classdef Sensor3D < Sensor2D
obj.stateWalkZ = 0;
end
- function [outputArg1,outputArg2,outputArg3] = sens(obj,inputArg1,inputArg2,inputArg3,temp)
+ function [outputArg1,outputArg2,outputArg3] = sens(obj,inputArg1,inputArg2,inputArg3,temp,t)
[inputArg1,inputArg2,inputArg3] = obj.tranformAxis(inputArg1,inputArg2,inputArg3);
[inputArg1,inputArg2,inputArg3] = obj.addOffset3D(inputArg1,inputArg2,inputArg3);
[inputArg1,inputArg2,inputArg3] = obj.randomWalk(inputArg1,inputArg2,inputArg3);
@@ -51,9 +51,7 @@ classdef Sensor3D < Sensor2D
inputArg2 = obj.addTempOffset(inputArg2,temp);
inputArg3 = obj.addTempOffset(inputArg3,temp);
- inputArg1 = obj.addNoise(inputArg1);
- inputArg2 = obj.addNoise(inputArg2);
- inputArg3 = obj.addNoise(inputArg3);
+ [inputArg1,inputArg2,inputArg3] = obj.addNoise3D(inputArg1,inputArg2,inputArg3,t);
inputArg1 = obj.quantization(inputArg1);
inputArg2 = obj.quantization(inputArg2);
@@ -124,6 +122,35 @@ classdef Sensor3D < Sensor2D
outputArg2 = inputArg2;
outputArg3 = inputArg3;
end
+
+ function [outputArg1,outputArg2,outputArg3] = addNoise3D(obj,inputArg1,inputArg2,inputArg3,t)
+ if ~isempty(obj.noiseVariance) % check for old results
+ inputArg1 = inputArg1 + sqrt(obj.noiseVariance).*randn(length(inputArg1),1);
+ inputArg2 = inputArg2 + sqrt(obj.noiseVariance).*randn(length(inputArg2),1);
+ inputArg3 = inputArg3 + sqrt(obj.noiseVariance).*randn(length(inputArg3),1);
+ elseif ~isempty(obj.noiseDataTrack1)
+ if strcmp(obj.noiseType, "white")
+ inputArg1 = inputArg1 + sqrt(obj.noiseDataTrack1*obj.noiseFactor).*randn(length(inputArg1),1);
+ inputArg2 = inputArg2 + sqrt(obj.noiseDataTrack2*obj.noiseFactor).*randn(length(inputArg2),1);
+ inputArg3 = inputArg3 + sqrt(obj.noiseDataTrack3*obj.noiseFactor).*randn(length(inputArg3),1);
+ elseif strcmp(obj.noiseType, "pink")
+ for ii = 1:length(obj.noiseDataTrack1.peaks_vect_f)
+ inputArg1 = inputArg1 + obj.noiseDataTrack1.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack1.peaks_vect_f(ii)*t + randn(1));
+ inputArg2 = inputArg2 + obj.noiseDataTrack2.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack2.peaks_vect_f(ii)*t + randn(1));
+ inputArg3 = inputArg3 + obj.noiseDataTrack3.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack3.peaks_vect_f(ii)*t + randn(1));
+ end
+ inputArg1 = inputArg1 + sqrt(obj.noiseDataTrack1.variance*obj.noiseFactor).*randn(length(inputArg1),1);
+ inputArg2 = inputArg2 + sqrt(obj.noiseDataTrack2.variance*obj.noiseFactor).*randn(length(inputArg2),1);
+ inputArg3 = inputArg3 + sqrt(obj.noiseDataTrack3.variance*obj.noiseFactor).*randn(length(inputArg3),1);
+ else
+ error("This noise is not defined")
+ end
+ end
+
+ outputArg1 = inputArg1;
+ outputArg2 = inputArg2;
+ outputArg3 = inputArg3;
+ end
end
end
diff --git a/commonFunctions/sensors/SensorFault.m b/commonFunctions/sensors/SensorFault.m
index 8d7b6b6..c201e86 100644
--- a/commonFunctions/sensors/SensorFault.m
+++ b/commonFunctions/sensors/SensorFault.m
@@ -19,6 +19,10 @@ classdef SensorFault < handle
bit; % number of bits for the sensor ( if available)
resolution; % resolution of the sensor
+ % noises
+ noiseType; % White (default) or Pink
+ noiseDataTrack1;
+ noiseFactor;
noiseVariance; % Varianze for the gaussian white noise
offset; % Offset in all directions
@@ -65,7 +69,7 @@ classdef SensorFault < handle
obj = obj.reset();
end
- function outputArg = sens(obj,inputArg,temp)
+ function outputArg = sens(obj,inputArg,temp,t)
%SENS Method to use the sensor.
% Gets the simulation data and extract the unideal sensor
% output
@@ -83,7 +87,7 @@ classdef SensorFault < handle
% a characteristic of the transducer or sensor in question that
% we already know it's present.
inputArg=obj.add2DOffset(inputArg,temp);
- inputArg=obj.whiteNoise(inputArg);
+ inputArg=obj.addNoise(inputArg,t);
inputArg=obj.addOffset(inputArg);
inputArg=obj.addTempOffset(inputArg,temp);
inputArg=obj.quantization(inputArg);
@@ -275,7 +279,7 @@ classdef SensorFault < handle
end
- function outputArg = whiteNoise(obj,inputArg)
+ function outputArg = addNoise(obj,inputArg,t)
%WHITE_NOISE Includes gaussian white noise to the sensor data
% Adds gaussian white noise with variance noiseVariance
%
@@ -288,10 +292,27 @@ classdef SensorFault < handle
% Outputs:
% outputArg: sensor data with white noise
- if (~isempty(obj.noiseVariance))
- %inputArg=inputArg+ones(size(inputArg)).*sqrt(obj.noiseVariance).*randn(1,1);,
- inputArg=inputArg+sqrt(obj.noiseVariance).*randn(size(inputArg));
+ % if (~isempty(obj.noiseVariance))
+ % %inputArg=inputArg+ones(size(inputArg)).*sqrt(obj.noiseVariance).*randn(1,1);,
+ % inputArg=inputArg+sqrt(obj.noiseVariance).*randn(size(inputArg));
+ % end
+ % outputArg = inputArg;
+
+ if ~isempty(obj.noiseVariance) % check for old results
+ inputArg = inputArg + sqrt(obj.noiseVariance).*randn(length(inputArg),1);
+ elseif ~isempty(obj.noiseDataTrack1)
+ if strcmp(obj.noiseType, "white")
+ inputArg = inputArg + sqrt(obj.noiseDataTrack1*obj.noiseFactor).*randn(length(inputArg),1);
+ elseif strcmp(obj.noiseType, "pink")
+ for ii = 1:length(obj.noiseDataTrack1.peaks_vect_f)
+ inputArg = inputArg + obj.noiseDataTrack1.peaks_vect_val(ii)*obj.noiseFactor*sin(2*pi*obj.noiseDataTrack1.peaks_vect_f(ii)*t + randn(1));
+ end
+ inputArg = inputArg + sqrt(obj.noiseDataTrack1.variance*obj.noiseFactor).*randn(length(inputArg),1);
+ else
+ error("This noise is not defined")
+ end
end
+
outputArg = inputArg;
end
diff --git a/commonFunctions/sensors/SensorGPS.m b/commonFunctions/sensors/SensorGPS.m
index e1ae5ad..93ee2f0 100644
--- a/commonFunctions/sensors/SensorGPS.m
+++ b/commonFunctions/sensors/SensorGPS.m
@@ -18,12 +18,12 @@ classdef SensorGPS < Sensor3D
obj=obj@Sensor3D();
end
- function [outPos, outVel] = sens(obj,state,temp,lat0,lon0)
+ function [outPos, outVel] = sens(obj,state,temp,lat0,lon0,t)
mLat= 1/111132.95225 * state(1) + lat0;
mLon= 1 / (111412.87733*cosd(mLat)) * state(2) + lon0;
inputArg = [mLat; mLon; state(3:end)];
- [outMeas] = sens@Sensor2D(obj,inputArg,temp);
+ [outMeas] = sens@Sensor2D(obj,inputArg,temp,t);
outPos = outMeas(1:3);
outVel = outMeas(4:6);
end
diff --git a/commonFunctions/sensors/acquisition_Sys.m b/commonFunctions/sensors/acquisition_Sys.m
index 1ecefd0..1f6890d 100644
--- a/commonFunctions/sensors/acquisition_Sys.m
+++ b/commonFunctions/sensors/acquisition_Sys.m
@@ -37,7 +37,7 @@ for i_baro = 1:3
if isfield(sensorData.barometer_sens{i_baro},'time')
for ii=1:length(sensorData.barometer_sens{i_baro}.time)
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorSettings.barometer1.sens(sensorData.barometer_sens{i_baro}.measures(ii)/100,...
- sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15);
+ sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15, t);
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorData.barometer_sens{i_baro}.measures(ii)*100;
[~, sensorData.barometer_sens{i_baro}.measures(ii,1)] = sensorSettings.barometer1.applyFailure(sensorData.barometer_sens{i_baro}.measures(ii), t);
sensorData.barometer_sens{i_baro}.z(ii,1) = -atmospalt(sensorData.barometer_sens{i_baro}.measures(ii),'None');
@@ -47,7 +47,7 @@ for i_baro = 1:3
if isfield(sensorData.barometer_sens{3},'time')
for ii=1:length(sensorData.barometer_sens{i_baro}.time)
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorSettings.barometer2.sens(sensorData.barometer_sens{i_baro}.measures(ii)/100,...
- sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15);
+ sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15, t);
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorData.barometer_sens{i_baro}.measures(ii)*100;
[~, sensorData.barometer_sens{i_baro}.measures(ii,1)] = sensorSettings.barometer2.applyFailure(sensorData.barometer_sens{i_baro}.measures(ii), t);
sensorData.barometer_sens{i_baro}.z(ii,1) = -atmospalt(sensorData.barometer_sens{i_baro}.measures(ii),'None');
@@ -57,7 +57,7 @@ for i_baro = 1:3
if isfield(sensorData.barometer_sens{3},'time')
for ii=1:length(sensorData.barometer_sens{i_baro}.time)
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorSettings.barometer3.sens(sensorData.barometer_sens{i_baro}.measures(ii)/100,...
- sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15);
+ sensorData.barometer_sens{i_baro}.temperature(ii,1) - 273.15, t);
sensorData.barometer_sens{i_baro}.measures(ii,1) = sensorData.barometer_sens{i_baro}.measures(ii)*100;
[~, sensorData.barometer_sens{i_baro}.measures(ii,1)] = sensorSettings.barometer3.applyFailure(sensorData.barometer_sens{i_baro}.measures(ii), t);
sensorData.barometer_sens{i_baro}.z(ii,1) = -atmospalt(sensorData.barometer_sens{i_baro}.measures(ii),'None');
@@ -92,19 +92,19 @@ if isfield(sensorData.accelerometer,'time')
sensorData.accelerometer.measures(ii,1)*1000/9.81,...
sensorData.accelerometer.measures(ii,2)*1000/9.81,...
sensorData.accelerometer.measures(ii,3)*1000/9.81,...
- 14.8500);
+ 14.8500, t);
[sensorData.gyro.measures(ii,1),sensorData.gyro.measures(ii,2),sensorData.gyro.measures(ii,3)] = ...
sensorSettings.gyroscope.sens( ...
sensorData.gyro.measures(ii,1)*1000*360/2/pi,...
sensorData.gyro.measures(ii,2)*1000*360/2/pi,...
sensorData.gyro.measures(ii,3)*1000*360/2/pi,...
- 14.8500);
+ 14.8500, t);
[sensorData.magnetometer.measures(ii,1),sensorData.magnetometer.measures(ii,2),sensorData.magnetometer.measures(ii,3)] = ...
sensorSettings.magnetometer.sens( ...
sensorData.magnetometer.measures(ii,1)*0.01,...
sensorData.magnetometer.measures(ii,2)*0.01,...
sensorData.magnetometer.measures(ii,3)*0.01,...
- 14.8500);
+ 14.8500, t);
sensorData.accelerometer.measures(ii,:) = sensorData.accelerometer.measures(ii,:)*9.81/1000;
sensorData.gyro.measures(ii,:) = sensorData.gyro.measures(ii,:)*2*pi/360/1000;
end
@@ -129,7 +129,7 @@ if isfield(sensorData.gps,'time')
sensorData.gps.velocityMeasures(ii,3); ];
[sensorData.gps.positionMeasures(ii,1:3),sensorData.gps.velocityMeasures(ii,1:3)] = ...
- sensorSettings.GPS.sens(gps_data, 14.8500, sensorSettings.lat0, sensorSettings.lon0);
+ sensorSettings.GPS.sens(gps_data, 14.8500, sensorSettings.lat0, sensorSettings.lon0, t);
end
if length(sensorData.gps.time)>1
@@ -148,9 +148,9 @@ if isfield(sensorData.pitot,'time')
airspeed = zeros(length(sensorData.pitot.time),1);
for ii=1:length(sensorData.pitot.time)
sensorData.pitot.pTotMeasures(ii) = sensorSettings.pitot_total.sens(sensorData.pitot.pTotMeasures(ii)/100,...
- sensorData.pitot.temperature(ii) - 273.15);
+ sensorData.pitot.temperature(ii) - 273.15, t);
sensorData.pitot.pStatMeasures(ii) = sensorSettings.pitot_static.sens(sensorData.pitot.pStatMeasures(ii)/100,...
- sensorData.pitot.temperature(ii) - 273.15);
+ sensorData.pitot.temperature(ii) - 273.15, t);
sensorData.pitot.pTotMeasures(ii) = sensorData.pitot.pTotMeasures(ii)*100;
sensorData.pitot.pStatMeasures(ii) = sensorData.pitot.pStatMeasures(ii)*100;
gamma = 1.4;
@@ -180,7 +180,7 @@ end
%% Chamber Pressure acquisition loop
if contains(mission.name,'2023') || contains(mission.name,'2024') || contains(mission.name,'2025')
for ii=1:length(sensorData.chamberPressure.time)
- sensorData.chamberPressure.measures(ii) = sensorSettings.comb_chamber.sens(sensorData.chamberPressure.measures(ii)*1000,50); % 50 temperature in °C (random)
+ sensorData.chamberPressure.measures(ii) = sensorSettings.comb_chamber.sens(sensorData.chamberPressure.measures(ii)*1000,50,t); % 50 temperature in °C (random)
sensorData.chamberPressure.measures(ii) = sensorData.chamberPressure.measures(ii)/1000;
end
if length(sensorData.chamberPressure.time)>1
diff --git a/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
index 2d5a3ff..6a30ede 100644
--- a/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
+++ b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
@@ -14,7 +14,13 @@ sensorSettings.barometer1.maxMeasurementRange = 1000; % 11
sensorSettings.barometer1.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer1.bit = 24; % adc on rocket is 24 bits
sensorSettings.barometer1.resolution = (sensorSettings.barometer1.maxMeasurementRange -sensorSettings.barometer1.minMeasurementRange)/(2^sensorSettings.barometer1.bit);
-sensorSettings.barometer1.noiseVariance = 1; % mbar^2
+
+
+
+sensorSettings.barometer1 = loadSensorNoiseData(sensorSettings.barometer1, Lyra_Port_sensor_vect, "main_Main_StaticPressureData1.csv", 1);
+% sensorSettings.barometer1.noiseVariance = 1; % mbar^2
+
+
sensorSettings.barometer1.fault_time = 9; % if negative it will be generated at random between a max and a min value
sensorSettings.barometer1.max_fault_time = 96; % max seconds to wait before possible fault
@@ -43,7 +49,13 @@ sensorSettings.barometer2.maxMeasurementRange = 1000; % 11
sensorSettings.barometer2.minMeasurementRange = 0; % 300, 10 in mbar
sensorSettings.barometer2.bit = 24; % adc on rocket is 24 bits
sensorSettings.barometer2.resolution = (sensorSettings.barometer2.maxMeasurementRange -sensorSettings.barometer2.minMeasurementRange)/(2^sensorSettings.barometer2.bit);
-sensorSettings.barometer2.noiseVariance = 1; % mbar^2
+
+
+
+sensorSettings.barometer2 = loadSensorNoiseData(sensorSettings.barometer2, Lyra_Port_sensor_vect, "main_Main_StaticPressureData2.csv", 1);
+% sensorSettings.barometer2.noiseVariance = 1; % mbar^2
+
+
sensorSettings.barometer2.fault_time = -1; % if negative it will be generated at random between a max and a min value
sensorSettings.barometer2.max_fault_time = 96; % max seconds to wait before possible fault
@@ -72,7 +84,13 @@ sensorSettings.barometer3.maxMeasurementRange = 4060; % 11
sensorSettings.barometer3.minMeasurementRange = 260; % 300, 10 in mbar
sensorSettings.barometer3.bit = 24;
sensorSettings.barometer3.resolution = (sensorSettings.barometer3.maxMeasurementRange -sensorSettings.barometer3.minMeasurementRange)/(2^sensorSettings.barometer3.bit);
-sensorSettings.barometer3.noiseVariance = 4.06; % guess in mbar
+
+
+
+sensorSettings.barometer3 = loadSensorNoiseData(sensorSettings.barometer3, Lyra_Port_sensor_vect, "main_Boardcore_LPS28DFWData.csv", 1);
+% sensorSettings.barometer3.noiseVariance = 4.06; % guess in mbar
+
+
sensorSettings.barometer3.fault_time = -1; % if negative it will be generated at random between a max and a min value
sensorSettings.barometer3.max_fault_time = 96; % max seconds to wait before possible fault
@@ -100,7 +118,14 @@ sensorSettings.accelerometer = Sensor3D();
sensorSettings.accelerometer.maxMeasurementRange = 16000; % 2000, 4000, 8000, 16000 in mg
sensorSettings.accelerometer.minMeasurementRange = -16000; % -2000, -4000, -8000, -16000 in mg
sensorSettings.accelerometer.bit = 16;
-sensorSettings.accelerometer.noiseVariance = 10; % guess in mg
+
+
+
+sensorSettings.accelerometer = loadSensorNoiseData(sensorSettings.accelerometer, Lyra_Port_sensor_vect, "main_Boardcore_LSM6DSRXData.csv", 1);
+% sensorSettings.accelerometer.noiseVariance = 10; % guess in mg
+
+
+
sensorSettings.accelerometer.offsetX = 0; % +-90 in mg
sensorSettings.accelerometer.offsetY = 0; % +-90 in mg
sensorSettings.accelerometer.offsetZ = 0; % +-90 in mg
@@ -113,7 +138,14 @@ sensorSettings.gyroscope = Sensor3D();
sensorSettings.gyroscope.maxMeasurementRange = 245e3; % 245e3, 500e3, 2000e3 in mdps
sensorSettings.gyroscope.minMeasurementRange = -245e3; % -245e3, -500e3, -2000e3 in mdps
sensorSettings.gyroscope.bit = 16;
-sensorSettings.gyroscope.noiseVariance = 50; % guess in mdps 100 was original
+
+
+
+sensorSettings.gyroscope = loadSensorNoiseData(sensorSettings.gyroscope, Lyra_Port_sensor_vect, "main_Boardcore_LSM6DSRXData.csv", 2);
+% sensorSettings.gyroscope.noiseVariance = 50; % guess in mdps 100 was original
+
+
+
sensorSettings.gyroscope.offsetX = 0; % +-30e3 in mdps
sensorSettings.gyroscope.offsetY = 0; % +-30e3 in mdps
sensorSettings.gyroscope.offsetZ = 0; % +-30e3 in mdps
@@ -151,13 +183,13 @@ sensorSettings.spheroid = wgs84Ellipsoid;
sensorSettings.comb_chamber = Sensor2D();
-sensorSettings.comb_chamber = loadSensorNoiseData(sensorSettings.comb_chamber, Lyra_Port_sensor_vect, "motor_Motor_TopTankPressureData.csv");
+sensorSettings.comb_chamber = loadSensorNoiseData(sensorSettings.comb_chamber, Lyra_Port_sensor_vect, "motor_Motor_TopTankPressureData.csv", 1);
sensorSettings.comb_chamber.maxMeasurementRange = 40000; % 1100, 1300 in mbar
sensorSettings.comb_chamber.minMeasurementRange = 0; % 300, 10 in mbar
-sensorSettings.comb_chamber.noiseVariance = 60000; % mbar
+% sensorSettings.comb_chamber.noiseVariance = 60000; % mbar
% sensorSettings.comb_chamber.error2dOffset = ep_data; % [p in mbar, T in Celsius, ep in mbar]
sensorSettings.comb_chamber.resolution = 1; % random value stolen from baro
sensorSettings.comb_chamber.offset = 0;
@@ -168,14 +200,16 @@ sensorSettings.pitot_static = Sensor2D();
sensorSettings.pitot_static.maxMeasurementRange = 1034.21; % mbar (15 psi)
sensorSettings.pitot_static.minMeasurementRange = 0;
sensorSettings.pitot_static.bit = 12;
-sensorSettings.pitot_static.noiseVariance = 0.043043; % from flight logs
+sensorSettings.pitot_static = loadSensorNoiseData(sensorSettings.pitot_static, Lyra_Port_sensor_vect, "payload_Payload_StaticPressureData.csv", 1);
+% sensorSettings.pitot_static.noiseVariance = 0.043043; % from flight logs
% total pressure
sensorSettings.pitot_total = Sensor2D();
sensorSettings.pitot_total.maxMeasurementRange = 2*1034.21; % mbar (30 psi)
sensorSettings.pitot_total.minMeasurementRange = 0;
sensorSettings.pitot_total.bit = 12;
-sensorSettings.pitot_total.noiseVariance = 2*0.043043; % from flight logs
+sensorSettings.pitot_total = loadSensorNoiseData(sensorSettings.pitot_total, Lyra_Port_sensor_vect, "payload_Payload_StaticPressureData.csv", 1);
+% sensorSettings.pitot_total.noiseVariance = 2*0.043043; % from flight logs
%% total sensor initialization
%
@@ -185,27 +219,45 @@ sensorSettings.pitot_total.noiseVariance = 2*0.043043;
%% Functions
-function [obj] = loadSensorNoiseData(obj, vect, name)
+function [obj] = loadSensorNoiseData(obj, vect, name, number)
len = length(vect);
for ii = 1:len
found = strcmp(name, vect(ii).name);
if found
- break
+ if number>1
+ number = number - 1;
+ else
+ break
+ end
end
end
-obj.noiseType = vect(ii).noise_type;
-
-if strcmp("Sensor2D", class(obj))
- obj.noiseDataTrack1 = vect(ii).track1;
-elseif strcmp("Sensor3D", class(obj)) || strcmp("SensorGPS", class(obj))
- obj.noiseDataTrack1 = vect(ii).track1;
- obj.noiseDataTrack2 = vect(ii).track2;
- obj.noiseDataTrack3 = vect(ii).track3;
+if found
+ obj.noiseType = vect(ii).noise_type;
+
+ if strcmp("Sensor2D", class(obj)) || strcmp("SensorFault", class(obj))
+ obj.noiseDataTrack1 = vect(ii).track1;
+ obj.noiseFactor = vect(ii).factor;
+ elseif strcmp("Sensor3D", class(obj)) || strcmp("SensorGPS", class(obj))
+ obj.noiseDataTrack1 = vect(ii).track1;
+ obj.noiseDataTrack2 = vect(ii).track2;
+ obj.noiseDataTrack3 = vect(ii).track3;
+ obj.noiseFactor = vect(ii).factor;
+ else
+ error("Sensor not defined")
+ end
else
- error("Not found")
+ if strcmp("Sensor2D", class(obj)) || strcmp("SensorFault", class(obj))
+ obj.noiseDataTrack1 = [];
+ elseif strcmp("Sensor3D", class(obj)) || strcmp("SensorGPS", class(obj))
+ obj.noiseDataTrack1 = [];
+ obj.noiseDataTrack2 = [];
+ obj.noiseDataTrack3 = [];
+ else
+ error("Sensor not defined")
+ end
end
end
--
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