From 9107f16f2155ab46caed0c1e25168ba425630526 Mon Sep 17 00:00:00 2001
From: Stefano Belletti <stefano.belletti@skywarder.eu>
Date: Fri, 17 Jan 2025 11:40:12 +0100
Subject: [PATCH] New function update - Sensor1D
---
commonFunctions/sensors/Sensor1D.m | 72 +++++++++++++++++--
.../initSensors2024_Lyra_Portugal_October.m | 18 +++--
2 files changed, 80 insertions(+), 10 deletions(-)
diff --git a/commonFunctions/sensors/Sensor1D.m b/commonFunctions/sensors/Sensor1D.m
index 7730774..5b4d509 100644
--- a/commonFunctions/sensors/Sensor1D.m
+++ b/commonFunctions/sensors/Sensor1D.m
@@ -44,6 +44,73 @@ classdef Sensor1D < handle
inputArg = obj.saturation(inputArg);
outputArg = inputArg;
end
+
+ function [] = update(obj,varargin)
+ if isa(obj,'SensorGPS')
+ error("Do not use .update for class SensorGPS")
+ end
+
+ if isempty(obj.minMeasurementRange)
+ error("Empty minMeasurementRange")
+ end
+ if isempty(obj.maxMeasurementRange)
+ error("Empty minMeasurementRange")
+ end
+
+ if isempty(obj.resolution)
+ if ~isempty(obj.bit)
+ obj.resolution = (obj.maxMeasurementRange - obj.minMeasurementRange)/(2^obj.bit);
+ else
+ error("Empty bit")
+ end
+ end
+
+ % Noise
+ if size(varargin,2) == 3
+ vect = varargin{1};
+ name = varargin{2};
+ number = varargin{3};
+
+ len = length(vect);
+
+ for ii = 1:len
+ found = strcmp(name, vect(ii).name);
+ if found
+ if number>1
+ number = number - 1;
+ else
+ break
+ end
+ end
+ end
+
+ if found
+ obj.noiseType = vect(ii).noise_type;
+
+ if isa(obj,"Sensor1D") || isa(obj,"SensorFault")
+ obj.noiseDataTrack1 = vect(ii).track1;
+ obj.noiseFactor = vect(ii).factor;
+ elseif isa(obj,"Sensor3D") || isa(obj,"SensorGPS")
+ 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
+ if isa(obj,"Sensor1D") || isa(obj,"SensorFault")
+ obj.noiseDataTrack1 = [];
+ elseif isa(obj,"Sensor3D") || isa(obj,"SensorGPS")
+ obj.noiseDataTrack1 = [];
+ obj.noiseDataTrack2 = [];
+ obj.noiseDataTrack3 = [];
+ else
+ error("Sensor not defined")
+ end
+ end
+ end
+ end
end
methods (Access = 'protected')
@@ -91,11 +158,6 @@ classdef Sensor1D < handle
function outputArg = quantization(obj,inputArg)
% Quantization of the input
- if isempty(obj.resolution)
- if (~isempty(obj.maxMeasurementRange)) && (~isempty(obj.minMeasurementRange)) && (~isempty(obj.bit))
- obj.resolution = (obj.maxMeasurementRange - obj.minMeasurementRange)/(2^obj.bit);
- end
- end
if ~isempty(obj.resolution)
inputArg = obj.resolution*round(inputArg/obj.resolution);
end
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 ba35e39..3ba0538 100644
--- a/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
+++ b/data/2024_Lyra_Portugal_October/initSensors2024_Lyra_Portugal_October.m
@@ -107,7 +107,6 @@ sensorSettings.accelerometer.maxMeasurementRange = 16000;
sensorSettings.accelerometer.minMeasurementRange = -16000; % -2000, -4000, -8000, -16000 in mg
sensorSettings.accelerometer.bit = 16;
-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
@@ -116,6 +115,8 @@ sensorSettings.accelerometer.offsetZ = 0;
sensorSettings.accelerometer.walkDiffusionCoef = 0; % guess
sensorSettings.accelerometer.dt = 0.01; % sampling time
+sensorSettings.accelerometer.update(Lyra_Port_sensor_vect, "main_Boardcore_LSM6DSRXData.csv", 1);
+
%% initial gyroscope sensor from LSM9DS1
% NOTE: angular rate in mdps
sensorSettings.gyroscope = Sensor3D();
@@ -123,7 +124,6 @@ sensorSettings.gyroscope.maxMeasurementRange = 245e3;
sensorSettings.gyroscope.minMeasurementRange = -245e3; % -245e3, -500e3, -2000e3 in mdps
sensorSettings.gyroscope.bit = 16;
-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
@@ -133,6 +133,8 @@ sensorSettings.gyroscope.walkDiffusionCoef = 1;
sensorSettings.gyroscope.dt = 0.01; % sampling time
sensorSettings.gyroscope.transMatrix = diag([1 1 1]); % axis transformation
+sensorSettings.gyroscope.update(Lyra_Port_sensor_vect, "main_Boardcore_LSM6DSRXData.csv", 2);
+
%% initial magnetometer sensor from LSM9DS1
% NOTE: magnetic field in mG (m Gauss)
sensorSettings.magnetometer = Sensor3D();
@@ -147,6 +149,8 @@ sensorSettings.magnetometer.walkDiffusionCoef = 0;
sensorSettings.magnetometer.dt = 0.01; % sampling time
sensorSettings.magnetometer.transMatrix = diag([1 1 1]); % axis transformation
+sensorSettings.magnetometer.update();
+
%% initial GPS sensor from NEO-M9N
% NOTE: lon, in degree lat in degree, alt in m
sensorSettings.GPS = SensorGPS();
@@ -162,7 +166,6 @@ sensorSettings.spheroid = wgs84Ellipsoid;
% check 2D offset for chamber pressure sensor
sensorSettings.comb_chamber = Sensor1D();
-sensorSettings.comb_chamber = loadSensorNoiseData(sensorSettings.comb_chamber, Lyra_Port_sensor_vect, "motor_Motor_TopTankPressureData.csv", 1);
% sensorSettings.comb_chamber.noiseVariance = 60000; % mbar
sensorSettings.comb_chamber.maxMeasurementRange = 40000; % 1100, 1300 in mbar
@@ -171,6 +174,9 @@ sensorSettings.comb_chamber.minMeasurementRange = 0;
sensorSettings.comb_chamber.resolution = 1; % random value stolen from baro
sensorSettings.comb_chamber.offset = 0;
+sensorSettings.comb_chamber.update(Lyra_Port_sensor_vect, "motor_Motor_TopTankPressureData.csv", 1);
+
+
%% pitot
% static pressure
sensorSettings.pitot_static = Sensor1D();
@@ -178,17 +184,19 @@ sensorSettings.pitot_static.maxMeasurementRange = 1034.21;
sensorSettings.pitot_static.minMeasurementRange = 0;
sensorSettings.pitot_static.bit = 12;
-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
+sensorSettings.pitot_static.update(Lyra_Port_sensor_vect, "payload_Payload_StaticPressureData.csv", 1);
+
% total pressure
sensorSettings.pitot_total = Sensor1D();
sensorSettings.pitot_total.maxMeasurementRange = 2*1034.21; % mbar (30 psi)
sensorSettings.pitot_total.minMeasurementRange = 0;
sensorSettings.pitot_total.bit = 12;
-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
+sensorSettings.pitot_total.update(Lyra_Port_sensor_vect, "payload_Payload_StaticPressureData.csv", 1);
+
%% total sensor initialization
%
% now is in std_setInitialParams.m
--
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