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estimator_status split out estimator_states

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This commit is contained in:
Daniel Agar
2020-09-01 14:25:58 -04:00
parent 33a7fed240
commit 9ccc1db649
17 changed files with 150 additions and 108 deletions
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14
Tools/ecl_ekf/analysis/post_processing.py
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@@ -146,18 +146,18 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
return gps_fail_flags
def magnetic_field_estimates_from_status(estimator_status: dict) -> Tuple[float, float, float]:
def magnetic_field_estimates_from_status(estimator_states: dict) -> Tuple[float, float, float]:
"""
:param estimator_status:
:param estimator_states:
:return:
"""
rad2deg = 57.2958
field_strength = np.sqrt(
estimator_status['states[16]'] ** 2 + estimator_status['states[17]'] ** 2 +
estimator_status['states[18]'] ** 2)
declination = rad2deg * np.arctan2(estimator_status['states[17]'],
estimator_status['states[16]'])
estimator_states['states[16]'] ** 2 + estimator_states['states[17]'] ** 2 +
estimator_states['states[18]'] ** 2)
declination = rad2deg * np.arctan2(estimator_states['states[17]'],
estimator_states['states[16]'])
inclination = rad2deg * np.arcsin(
estimator_status['states[18]'] / np.maximum(field_strength, np.finfo(np.float32).eps))
estimator_states['states[18]'] / np.maximum(field_strength, np.finfo(np.float32).eps))
return declination, field_strength, inclination