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--- code:parafoil_tests [2008/10/15 06:07] – laurenceb
+++ code:parafoil_tests [2008/11/08 21:05] (current) – laurenceb
@@ Line 1: / Line 1: @@
+====== Fourth test, 8th November ======
+Same as before, filter appears to be working perfectly, need to do a car test still, but the rate output has still captured some of the turns.
+{{code:test4headings.png?970|}}
+{{code:test4positions.png?970|}}
+{{code:test4altitude.png?970|}}
+====== Second outside test, 20th October ======
+This time data was recorded at 1Hz. Unfortunately it is clear holding the payload enclosure with one hand whilst running across a muddy field leaves the gyro output buried in noise. However the kalman filter seems to be coping well. Test three will have to use a bike.
+Same data as previous, longer test run and intervals at 1Hz this time.
+{{code:test2positions.png|}}
+{{code:test2altitude.png|}}
+Around the 75 seciond mark it can be seen that the heading is around due south. The gps heading is wandering about the +-PI boundary, and it can be seen that the filtered heading is not behaving as it should, and is trying to follow the gps. A change to the code in kalman.c is probably the best solution to this - the top of the residual vector needs to be maintained in the +-PI range so the filter is stable under these conditions.
+{{code:test2headings.png?720|}}
 ====== First outside test, 15th October ======
@@ Line 4: / Line 29: @@
 {{code:test1positions.png|}}
-The x axis on the altitude and headings graphs is in samples. Headings are in radians and rate in radians/s
+The x axis on the altitude and the headings graph is in samples. Headings are in radians and rate in radians/s
 {{code:test1altitudes.png|}}
 {{code:test1headings-0.png|}}