def nedDotDot(self):
if self.__nedDotDot == None:
self.__nedDotDot = ft.derivative(self.v['time'],
self.v['nedDot'],
delta=2)
self.__nedDotDot[:, 2] -= 9.80665
cornerFreqHz = 10
self.__nedDotDot = ft.lpfNoDelay(self.__nedDotDot,
cornerFreqHz,
time=self.v['time'])
return self.__nedDotDot
def fltPqr(self):
if self.__flt.pqr == None:
self.__flt.pqr = ft.lpfNoDelay(self.v['pqr'],
self.cornerFreqHz,
time=self.v['time'])
return self.__flt.pqr
def fltAcc(self):
if self.__flt.acc == None:
self.__flt.acc = ft.lpfNoDelay(self.v['acc'],
self.cornerFreqHz,
time=self.v['time'])
return self.__flt.acc
def fltBarNoBias(self):
if 'mslBarNoBias' in self.v.dtype.names and self.__flt.barNoBias == None:
self.__flt.mslBarNoBias = ft.lpfNoDelay(self.v['mslBarNoBias'],
self.cornerFreqHz,
time=self.v['time'])
return self.__flt.mslBarNoBias
