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ethz-asl / fw_px4_plottools

Plotting tools for reading and showing Pixhawk uLog logs in Matlab
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Feature/airflow vane mounting offset calibration #29

Closed tstastny closed 5 years ago

tstastny commented 5 years ago

merge after #28

Adds a script to calibrate angle of attack and sideslip vane mounting biases from figure-8 maneuvers in flight logs.

tstastny commented 5 years ago

Can you rebase on master?

already rebased - will implement other changes

tstastny commented 5 years ago

Also could you point me to a log file which I could use just for a quick test of the scripts?

Techpod Agrofly log -- https://drive.google.com/file/d/1zLM8LhrTJ018KSFDBm-zxdLz8QMCHxtW/view?usp=sharing

I used t_st = 2115, t_end = 2160 -- it's not the best example of a figure-8 however.. but best i could find quickly. We'll need to check the optimization on future more appropriate data -- I plan to have @gian1312 do this for his vanes on the EZG5 when he is back

One thing I'm a little worried about is optimizing the slip bias at the same time .. but I believe it should be observable so long as we do the figure 8 maneuver. Maybe @ASM3 differs in opinion.

In the end.. I guess we can always update this algorithm later for improvements once we get more samples of how it works.