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pathfinder-for-autonomous-navigation / psim

Six DOF flight simulator and related GNC implementations.
MIT License
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Updated PSim Standalone Plotting Utilities #287

Closed kylekrol closed 3 years ago

kylekrol commented 3 years ago

Update PSim Standalone Plotting Utilities

Summary of changes

The psim standalone plotting utilities only supported two styles (two and three dimensional plotting). The major issues was the lack of support for log scale plots and estimate plots with two sigma bounds.

The plotting utilities were overhauled accordingly and now feature multiple "plot types" including Plot2D, Plot2DLog, Plot3D, and PlotEstimate. There are examples all each being used in the updated plotting files.

Testing

All plotting utilities were tested locally and some screenshots are included below featuring the updated plots for the attitude estimator.

log_deg_err px py pz wx wy wz

All plots were generated with the following command:

python -m psim -s 1000 -p fc/attitude,truth/attitude,sensors/sun_sensors -ps 1 -c sensors/base,truth/base,truth/deployment -v AttitudeEstimatorTestGnc
kylekrol commented 3 years ago

This needs to be rebased once #280 is merged.