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Noise offset bugfix and updated conversion code

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dario 2024-04-22 23:40:46 +02:00
parent 8cc7150526
commit 05ed167615
4 changed files with 1795 additions and 1766 deletions
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114
conversion.ipynb
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3440
data/simulations/40km.txt
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5
spatz/sensors/imu/accelerometer.py
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@ -26,14 +26,15 @@ class Accelerometer(Sensor):
def _get_data(self) -> ArrayLike | float: def _get_data(self) -> ArrayLike | float:
acc = self._dataset.get_acceleration(frame='FL') acc = self._dataset.get_acceleration(frame='FL')
acc += np.array([0, 0, g])
self._logger.write('FL_x', acc[0], self._get_name()) self._logger.write('FL_x', acc[0], self._get_name())
self._logger.write('FL_y', acc[1], self._get_name()) self._logger.write('FL_y', acc[1], self._get_name())
self._logger.write('FL_z', acc[2], self._get_name()) self._logger.write('FL_z', acc[2], self._get_name())
# Convert FL to body # Convert FL to body
acc = self._dataset.launch_rail_to_body() @ acc mat = self._dataset.launch_rail_to_body()
acc = mat @ acc
acc += mat @ np.array([0, 0, g])
self._logger.write('B_x', acc[0], self._get_name()) self._logger.write('B_x', acc[0], self._get_name())
self._logger.write('B_y', acc[1], self._get_name()) self._logger.write('B_y', acc[1], self._get_name())

2
spatz/transforms/noise.py
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@ -27,7 +27,7 @@ class GaussianNoise(Transform):
sigma = self.__sigma sigma = self.__sigma
if np.isscalar(self.__mu): if np.isscalar(self.__mu):
mu = np.ones(dim) mu = np.ones(dim) * self.__mu
else: else:
mu = self.__mu mu = self.__mu