From e485007a26ca140cd579c68799e75c5cd5333270 Mon Sep 17 00:00:00 2001 From: Eddy Scott Date: Wed, 2 Sep 2015 08:46:47 -0400 Subject: [PATCH] Fixed problem with defining std as variance^2 instead of variance^(1/2) --- src/uas/UAS.cc | 34 ++- .../gaussian_noise.cpp | 4 +- .../generate_noise_csv | Bin 15055 -> 15003 bytes .../generated_noise.csv | 200 +++++++++--------- .../verify_noise_characteristics.m | 2 +- 5 files changed, 128 insertions(+), 112 deletions(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index c4185c0c3..f978cb621 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -135,19 +135,35 @@ UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle) : UASInterface(), // Initialize HIL sensor noise variances to 0. If user wants corrupted sensor values they will need to set them // Note variances calculated from flight case from this log: http://dash.oznet.ch/view/MRjW8NUNYQSuSZkbn8dEjY // TODO: calibrate stand-still pixhawk variances - xacc_var(1.2914f), + /* + xacc_var(0.6457f), yacc_var(0.7048f), - zacc_var(1.9577f), + zacc_var(0.97885f), rollspeed_var(0.8126f), pitchspeed_var(0.6145f), yawspeed_var(0.5852f), - xmag_var(0.4786f), - ymag_var(0.4566f), - zmag_var(0.3333f), - abs_pressure_var(1.1604f), - diff_pressure_var(1.1604f), - pressure_alt_var(1.1604f), - temperature_var(1.4290f), + xmag_var(0.2393f), + ymag_var(0.2283f), + zmag_var(0.1665f), + abs_pressure_var(0.5802f), + diff_pressure_var(0.5802f), + pressure_alt_var(0.5802f), + temperature_var(0.7145f), + */ + xacc_var(0.0f), + yacc_var(0.0f), + zacc_var(0.0f), + rollspeed_var(0.0f), + pitchspeed_var(0.0f), + yawspeed_var(0.0f), + xmag_var(0.0f), + ymag_var(0.0f), + zmag_var(0.0f), + abs_pressure_var(0.0f), + diff_pressure_var(0.0f), + pressure_alt_var(0.0f), + temperature_var(0.0f), + #ifndef __mobile__ simulation(0), diff --git a/tools/RandomNumberVerification/gaussian_noise.cpp b/tools/RandomNumberVerification/gaussian_noise.cpp index ebb1073cf..90366a8bc 100644 --- a/tools/RandomNumberVerification/gaussian_noise.cpp +++ b/tools/RandomNumberVerification/gaussian_noise.cpp @@ -58,8 +58,8 @@ float generateGaussianNoise(float mu, float variance) while ( u1 <= epsilon ); //Have a catch to ensure non-zero for log() z0 = sqrt(-2.0 * log(u1)) * cos(two_pi * u2); //calculate normally distributed variable with mu = 0, var = 1 - float noise = z0 * (variance*variance) + mu; //calculate normally distributed variable with mu = mu, std = var^2 - return noise + float noise = z0 * sqrt(variance) + mu; //calculate normally distributed variable with mu = mu, std = var^2 + return noise; } int main(int argc, char *argv[]) { diff --git a/tools/RandomNumberVerification/generate_noise_csv 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\ No newline at end of file diff --git a/tools/RandomNumberVerification/verify_noise_characteristics.m b/tools/RandomNumberVerification/verify_noise_characteristics.m index 9d660f8e6..a1e8be1f9 100644 --- a/tools/RandomNumberVerification/verify_noise_characteristics.m +++ b/tools/RandomNumberVerification/verify_noise_characteristics.m @@ -39,7 +39,7 @@ clc system('g++ gaussian_noise.cpp -o generate_noise_csv'); mu_des = 0.0; std_des = 0.02; -var_des = 0.2;%sqrt(std_des); +var_des = std_des^2; num_samples = 10000; num_runs = 100; if exist('generated_noise.csv','file') -- 2.22.0