Attitude Estimator Model #280
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
kylekrol
force-pushed
the
feature/attitude-estimator
branch
2 times, most recently
from
f6537ce to
ccd24d6
Compare
kylekrol
force-pushed
the
feature/attitude-estimator
branch
from
92e1e9c to
ddc9eb3
Compare
This was referenced Jan 7, 2021
kylekrol
commented
Jan 7, 2021
Comment on lines
+1
to
+4
|
|
||
| # Attitude estimator's validity over time. | ||
| - x: truth.t.s | ||
| y: fc.leader.attitude.is_valid |
There was a problem hiding this comment.
This set of plots is improved upon in later pull requests.
kylekrol
commented
Jan 7, 2021
Comment on lines
+40
to
+47
| - name: "fc.{satellite}.attitude.w" | ||
| type: Lazy Vector3 | ||
| comment: > | ||
| Current angular rate estimate. | ||
| - name: "fc.{satellite}.attitude.w.error" | ||
| type: Lazy Vector3 | ||
| comment: > | ||
| Current angular rate estimate error. |
There was a problem hiding this comment.
There is no *.sigma value here because it isn't estimated directly by the filter and I saw no need to go through the math required to generate it.
shihaocao
approved these changes
Jan 15, 2021
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Attitude Estimator Model
Closes #197.
Pairs with #287 and #288.
Summary of Changes
AttitudeEstimatormodel to mimic the attitude estimator running on the flight computer. More telemetry is exposed as runtime than is available off the flight computer itself.AttitudeEstimatorTestGncto actually run tests.Note that most of the lazily evaluated fields simply facilitate checks on filter health. They are designed to mimic the plots @stewartaslan provided in his old MATLAB script.
Testing
See the plots included with #287 as well as the screenshot below.