From acd26ce1335620bdc7812192a03e5549820f8a88 Mon Sep 17 00:00:00 2001
From: Stefano Belletti <stefano.belletti@skywarder.eu>
Date: Tue, 25 Feb 2025 16:04:03 +0100
Subject: [PATCH] latest backup
---
commonFunctions/kalman/run_NAS.m | 8 ++++----
.../sensors/NoiseAnalysis/main_noiseAnalysis.m | 9 +++++----
.../config2024_Lyra_Portugal_October.m | 10 +++++-----
3 files changed, 14 insertions(+), 13 deletions(-)
diff --git a/commonFunctions/kalman/run_NAS.m b/commonFunctions/kalman/run_NAS.m
index d26efaf5..44a63754 100644
--- a/commonFunctions/kalman/run_NAS.m
+++ b/commonFunctions/kalman/run_NAS.m
@@ -174,10 +174,10 @@ if length(t_nas) > 1
% magnetometer
- if round(t_nas(ii) - sensorTot.nas.timestampMagnetometerCorrection, 6) >= 1/nas.mag_freq
- [xq(ii,:),P_q(:,:,ii),~,~] = correctorQuat(xq(ii,:),P_q(:,:,ii),sensorTot.imu.magnetometer_measures(index_imu,:),nas.sigma_mag,mag_NED);
- sensorTot.nas.timestampMagnetometerCorrection = t_nas(ii);
- end
+ % if round(t_nas(ii) - sensorTot.nas.timestampMagnetometerCorrection, 6) >= 1/nas.mag_freq
+ % [xq(ii,:),P_q(:,:,ii),~,~] = correctorQuat(xq(ii,:),P_q(:,:,ii),sensorTot.imu.magnetometer_measures(index_imu,:),nas.sigma_mag,mag_NED);
+ % sensorTot.nas.timestampMagnetometerCorrection = t_nas(ii);
+ % end
% reintroduce pitot
% pitot
diff --git a/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m b/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
index b1b5a719..668fa9e5 100644
--- a/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
+++ b/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
@@ -6,6 +6,7 @@ restoredefaultpath
%% Path
matFolder = "..\New data";
+matFolder = "C:\Users\stebe\Desktop\New data";
addpath(genpath(".\Functions"))
addpath(genpath(matFolder))
@@ -15,17 +16,17 @@ addpath(genpath(matFolder))
clear, clc
close all
-sensor_single.name = "main_Boardcore_LSM6DSRXData.csv";
+sensor_single.name = "main_Boardcore_LIS2MDLData.csv";
sensor_single.noise_type = "white";
if strcmp(sensor_single.noise_type, "pink") || strcmp(sensor_single.noise_type, "colored")
sensor_single.colored_data.white_variance = 10;
sensor_single.colored_data.fcut = 0.3;
sensor_single.colored_data.butterOrder = 1;
end
-sensor_single.track = 7; % [6 7 8]
+sensor_single.track = 2; % [6 7 8]
sensor_single.fs = 100;
-sensor_single.bound_left = 0.35;
-sensor_single.bound_right = 0.5;
+sensor_single.bound_left = 0.5;
+sensor_single.bound_right = 0.7;
sensor_single.bounds = [sensor_single.bound_left sensor_single.bound_right];
diff --git a/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
index 229dd4c5..0f658f06 100644
--- a/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
+++ b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
@@ -85,11 +85,11 @@ settings.servo.maxAngle = fix(settings.servo.maxAngle*1e9)/1e9; % to avoid compu
%% NAS TUNING PARAMETERS
settings.nas.dt_k = 0.02; % [s] nas time step
-settings.nas.sigma_baro = 50; % [Pa] estimated barometer variance
-settings.nas.sigma_mag = 10; % [mgauss] estimated magnetometer variance
-settings.nas.sigma_GPS = sqrt(diag([0.002 0.002 0.01/30 0.01/30])); % [millideg m/s] estimated GPS variance. position from test, velocity from datasheet
-settings.nas.sigma_w = 10; % [rad/s] estimated gyroscope variance;
-settings.nas.sigma_beta = 1e-4; % [rad/s] estimated gyroscope bias variance;
+settings.nas.sigma_baro = sqrt(36); % [Pa] estimated barometer sigma
+settings.nas.sigma_mag = 1e3*sqrt(1.866e-05); % [mgauss] estimated magnetometer sigma
+settings.nas.sigma_GPS = sqrt(diag([0.002 0.002 0.01/30 0.01/30])); % [millideg m/s] estimated GPS sigma. position from test, velocity from datasheet
+settings.nas.sigma_w = 10; % [rad/s] estimated gyroscope sigma;
+settings.nas.sigma_beta = 1e-4; % [rad/s] estimated gyroscope bias sigma;
settings.nas.sigma_pitot = 20^2;
settings.nas.sigma_pitot2 = 0.1;
settings.nas.sigma_acc = 0.05; % [m/s^2]
--
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