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- Kalman: Test: introduced dt

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git-svn-id: http://moon:8086/svn/projects/HendiControl@252 fda53097-d464-4ada-af97-ba876c37ca34
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jens
2019-04-19 14:06:52 +00:00
parent bd94845152
commit 8ecb9b2ace
1 changed files with 5 additions and 3 deletions
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Control/brewpi/kalman.py
+5 -3
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@@ -100,9 +100,10 @@ class Kalman():
# Main # Main
if __name__ == '__main__': if __name__ == '__main__':
dt =1
params = { params = {
'dt' : 1, 'dt' : dt,
'var_P' : 1, 'var_P' : 1,
'var_Q' : 0, 'var_Q' : 0,
'var_R' : 1, 'var_R' : 1,
@@ -115,12 +116,13 @@ if __name__ == '__main__':
_x2 = np.empty(0) _x2 = np.empty(0)
_y2 = np.empty(0) _y2 = np.empty(0)
seqn = range(0, 100) N = int(100/dt)
seqn = range(0, N)
for n in seqn: for n in seqn:
X = k.process_truth() X = k.process_truth()
Z = k.process_measurement((X[0,0], 0)) Z = k.process_measurement((X[0,0], 0))
Kalman.print("Z:", Z) #Kalman.print("Z:", Z)
Xp = k.process(Z) Xp = k.process(Z)
_x1 = np.append(_x1, Z[0]) _x1 = np.append(_x1, Z[0])