This PR implements the possibility to compute the angular accelerations from nummerically differentiating the angular velocities using second order accurate central differences. The computation of the angular acceleration is applied before the resampling and filtering on the raw data.
This is needed for all flight logs since the angular acceleration topic is only present in logs from the sim.
Comparison
For comparison I attached the angular velocity measurement and computation (always the blue lines):
Angular acceleration from the sim
Angular acceleration from numerical differentiation
Conclusion
The numerical approximation seems close enough to the ground truth from the sim for now.
Jaeyoung-Lim
commented
3 years ago
This PR implements the possibility to compute the angular accelerations from nummerically differentiating the angular velocities using second order accurate central differences. The computation of the angular acceleration is applied before the resampling and filtering on the raw data.
This is needed for all flight logs since the angular acceleration topic is only present in logs from the sim.
Comparison
For comparison I attached the angular velocity measurement and computation (always the blue lines):
Angular acceleration from the sim
Angular acceleration from numerical differentiation
Conclusion
The numerical approximation seems close enough to the ground truth from the sim for now.