[paparazzi-commits] [5116] Airspeed Calibration

[Christophe De Wagter]

Revision: 5116
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5116
Author:   dewagter
Date:     2010-07-22 12:21:44 +0000 (Thu, 22 Jul 2010)
Log Message:
-----------
Airspeed Calibration

Added Paths:
-----------
    paparazzi3/trunk/sw/tools/calibration/airspeed.m

Added: paparazzi3/trunk/sw/tools/calibration/airspeed.m
===================================================================
--- paparazzi3/trunk/sw/tools/calibration/airspeed.m                            
(rev 0)
+++ paparazzi3/trunk/sw/tools/calibration/airspeed.m    2010-07-22 12:21:44 UTC 
(rev 5116)
@@ -0,0 +1,75 @@
+
+close all
+
+%% Read Data
+
+% AIR = load('airspeed.txt');
+% air = AIR(:,5);
+% desired = AIR(:,6);
+% climb = AIR(:,7)./100;
+% speed = AIR(:,8)./100;
+% alt = AIR(:,9)./100;
+% course = AIR(:,10)./10;
+% 
+% airspeed_bias = 64.5;
+% airspeed_scale = 3.5;
+
+%% Read data
+
+AIR = load('airspeed_amp.txt');
+AIR = AIR(1000:end,:);
+air = AIR(:,6);
+desired = AIR(:,9)./100;
+climb = AIR(:,7)./100;
+speed = AIR(:,8)./100;
+alt = AIR(:,9)./100;
+course = AIR(:,10)./10;
+
+airspeed_bias = 370;
+airspeed_scale = 3.5 / 5.7 * 2.4;
+
+%% Altitude
+
+figure
+hold on
+plot (alt);
+plot(desired,'r');
+grid on;
+
+%% Wind
+
+windx = 7;
+windy = 0;
+
+figure;
+vx = speed .* cosd(course) + windx;
+vy = speed .* sind(course) + windy;
+vz = climb;
+plot(vx,vy,'bx');
+grid on;
+axis equal;
+
+%% Airspeed Calibration
+
+gpsairspeed = sqrt(vx.^2 + vy .^2 + vz.^2);
+
+airsp = air - airspeed_bias;
+airsp = airsp - airsp .* (airsp < 0);
+airsp = sqrt(airsp) * airspeed_scale;
+
+% [b,a] = butter(2,0.1);
+% airsp = filter(b,a,airsp);
+% gpsairspeed = filter(b,a,gpsairspeed);
+
+figure
+plot(airsp,'b');
+hold on;
+plot(gpsairspeed,'r');
+grid on;
+legend('air','gps');
+%plot(climb,'g');
+
+%% Total Energy
+
+%Ekin = airsp .*
+