def __init__(self, platform, noiseStdDev, rng=None, **kwargs):
if rng is None:
rng = np.random.RandomState()
Ts = 1. / 1000 # Sample time
self._bias_components = [[
MarkovProc.from_ar1(Ts, 9.999049e-01, 8.030220e-10),
MarkovProc.from_ar1(Ts, 6.211672e-01, 4.546056e-03),
RWModel(1.174606e-11),
WNModel(5.876599e-06)
] for i in range(3)]
# rad / s -> voltage scale factor
#self._voltage_scale = 1. / 0.030517578125
self._voltage_scale = 1. # Currently no rad/s -> volt scaling
IdealGyroscope.__init__(self, platform, **kwargs)
def __init__(self, simulation=None, trajectory=None):
self.accelerometer = IdealAccelerometer(self)
self.magnetometer = IdealMagnetometer(self)
self.gyroscope = IdealGyroscope(self)
self.adc = IdealADC(self)
self.timer = IdealTimer(self)
self.radio = IdealRadio(self)
StandardIMU.__init__(self, simulation, trajectory)
def __init__(self,
positionOffset=vector(0, 0, 0),
rotationOffset=Quaternion(1, 0, 0, 0),
simulation=None,
trajectory=None):
self.accelerometer = IdealAccelerometer(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.magnetometer = IdealMagnetometer(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.gyroscope = IdealGyroscope(self,
positionOffset=positionOffset,
rotationOffset=rotationOffset)
self.adc = IdealADC(self)
self.timer = IdealTimer(self)
self.radio = IdealRadio(self)
StandardIMU.__init__(self, simulation, trajectory)