def main():
# traj_nb = 0; # static
# traj_nb = 1; # sine orientation
# traj_nb = 2; # sine X quad
# traj_nb = 3; # step_phi
# traj_nb = 4; # step_phi_2nd_order
# traj_nb = 5; # step_bias
# traj_nb = 6; # coordinated circle
# traj_nb = 7; # stop stop X quad
traj_nb = 8
# bungee takeoff
build_opt1 = []
# build_opt1 = ["Q="];
build_opt1 += ["FREQUENCY=120"]
# build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"];
build_opt1 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
# build_opt1 += ["DISABLE_MAG_UPDATE=1"];
# build_opt1 += ["USE_GPS_HEADING=1"];
# build_opt1 += ["MAG_UPDATE_YAW_ONLY=1"];
# ahrs_type1 = "FCQ";
# ahrs_type1 = "FCR2";
# ahrs_type1 = "FLQ";
ahrs_type1 = "ICQ"
# ahrs_type1 = "FCR";
sim_res1 = ahrs_utils.run_simulation(ahrs_type1, build_opt1, traj_nb)
# import code; code.interact(local=locals())
build_opt2 = []
build_opt2 += ["FREQUENCY=120"]
build_opt2 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
build_opt2 += ["USE_AHRS_GPS_ACCELERATIONS=1"]
# build_opt2 += ["DISABLE_MAG_UPDATE=1"];
# build_opt2 += ["USE_GPS_HEADING=1"];
# build_opt2 += ["MAG_UPDATE_YAW_ONLY=0"];
# build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"];
# build_opt2 = build_opt1;
# ahrs_type2 = "FLQ";
# ahrs_type2 = "FCR2";
# ahrs_type2 = "ICQ";
ahrs_type2 = "FCR"
# ahrs_type2 = ahrs_type1;
sim_res2 = ahrs_utils.run_simulation(ahrs_type2, build_opt2, traj_nb)
ahrs_utils.plot_simulation_results(False, "b", ahrs_type1, sim_res1)
ahrs_utils.plot_simulation_results(True, "g", ahrs_type2, sim_res2)
ahrs_utils.show_plot()
def main():
# traj_nb = 0; # static
# traj_nb = 1; # sine orientation
# traj_nb = 2; # sine X quad
# traj_nb = 3; # step_phi
# traj_nb = 4; # step_phi_2nd_order
# traj_nb = 5; # step_bias
# traj_nb = 6; # coordinated circle
# traj_nb = 7; # stop stop X quad
traj_nb = 8
# bungee takeoff
build_opt1 = []
# build_opt1 = ["Q="];
build_opt1 += ["FREQUENCY=120"]
# build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"];
build_opt1 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
# build_opt1 += ["DISABLE_MAG_UPDATE=1"];
# build_opt1 += ["USE_GPS_HEADING=1"];
# build_opt1 += ["MAG_UPDATE_YAW_ONLY=1"];
# ahrs_type1 = "FCQ";
# ahrs_type1 = "FCR2";
# ahrs_type1 = "FLQ";
ahrs_type1 = "ICQ"
# ahrs_type1 = "FCR";
sim_res1 = ahrs_utils.run_simulation(ahrs_type1, build_opt1, traj_nb)
# import code; code.interact(local=locals())
build_opt2 = []
build_opt2 += ["FREQUENCY=120"]
build_opt2 += ["GRAVITY_UPDATE_COORDINATED_TURN=1"]
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
build_opt2 += ["USE_AHRS_GPS_ACCELERATIONS=1"]
# build_opt2 += ["DISABLE_MAG_UPDATE=1"];
# build_opt2 += ["USE_GPS_HEADING=1"];
# build_opt2 += ["MAG_UPDATE_YAW_ONLY=0"];
# build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"];
# build_opt2 = build_opt1;
# ahrs_type2 = "FLQ";
# ahrs_type2 = "FCR2";
# ahrs_type2 = "ICQ";
ahrs_type2 = "FCR"
# ahrs_type2 = ahrs_type1;
sim_res2 = ahrs_utils.run_simulation(ahrs_type2, build_opt2, traj_nb)
ahrs_utils.plot_simulation_results(False, 'b', ahrs_type1, sim_res1)
ahrs_utils.plot_simulation_results(True, 'g', ahrs_type2, sim_res2)
ahrs_utils.show_plot()
def main():
# traj_nb = 0; # static
# traj_nb = 1; # sine orientation
# traj_nb = 2; # sine X quad
traj_nb = 3
# step_phi
# traj_nb = 4; # step_phi_2nd_order
# traj_nb = 5; # step_bias
# traj_nb = 6; # coordinated circle
# traj_nb = 7; # stop stop X quad
build_opt1 = []
# build_opt1 = ["Q="];
build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"]
# build_opt1 = ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=0"]
# build_opt1 = ["MAG_UPDATE_YAW_ONLY=1"];
ahrs_type1 = "FCQ"
# ahrs_type1 = "FCR2";
# ahrs_type1 = "FLQ";
# ahrs_type1 = "ICQ";
sim_res1 = ahrs_utils.run_simulation(ahrs_type1, build_opt1, traj_nb)
# import code; code.interact(local=locals())
build_opt2 = []
# build_opt2 = ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"]
# build_opt2 = ["MAG_UPDATE_YAW_ONLY=0"];
build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"]
# build_opt2 = build_opt1;
# ahrs_type2 = "FLQ";
ahrs_type2 = "FCQ"
# ahrs_type2 = "ICQ";
ahrs_type2 = ahrs_type1
sim_res2 = ahrs_utils.run_simulation(ahrs_type2, build_opt2, traj_nb)
ahrs_utils.plot_simulation_results(False, 'b', sim_res1)
ahrs_utils.plot_simulation_results(True, 'g', sim_res2)
ahrs_utils.show_plot()
def main():
# traj_nb = 0; # static
# traj_nb = 1; # sine orientation
# traj_nb = 2; # sine X quad
traj_nb = 3; # step_phi
# traj_nb = 4; # step_phi_2nd_order
# traj_nb = 5; # step_bias
# traj_nb = 6; # coordinated circle
# traj_nb = 7; # stop stop X quad
build_opt1 = [];
# build_opt1 = ["Q="];
build_opt1 += ["PROPAGATE_LOW_PASS_RATES=1"];
# build_opt1 = ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
build_opt1 += ["GRAVITY_UPDATE_NORM_HEURISTIC=0"];
# build_opt1 = ["MAG_UPDATE_YAW_ONLY=1"];
ahrs_type1 = "FCQ";
# ahrs_type1 = "FCR2";
# ahrs_type1 = "FLQ";
# ahrs_type1 = "ICQ";
sim_res1 = ahrs_utils.run_simulation(ahrs_type1, build_opt1, traj_nb)
# import code; code.interact(local=locals())
build_opt2 = [];
# build_opt2 = ["GRAVITY_UPDATE_COORDINATED_TURN=1"];
build_opt2 += ["GRAVITY_UPDATE_NORM_HEURISTIC=1"];
# build_opt2 = ["MAG_UPDATE_YAW_ONLY=0"];
build_opt2 += ["PROPAGATE_LOW_PASS_RATES=1"];
# build_opt2 = build_opt1;
# ahrs_type2 = "FLQ";
ahrs_type2 = "FCQ";
# ahrs_type2 = "ICQ";
ahrs_type2 = ahrs_type1;
sim_res2 = ahrs_utils.run_simulation(ahrs_type2, build_opt2, traj_nb)
ahrs_utils.plot_simulation_results(False, 'b', sim_res1)
ahrs_utils.plot_simulation_results(True, 'g', sim_res2)
ahrs_utils.show_plot()