openpilot_comma/tools/plotjuggler/layouts/gps_vs_llk.xml

<?xml version='1.0' encoding='UTF-8'?>
<root>
 <tabbed_widget name="Main Window" parent="main_window">
  <Tab tab_name="tab1" containers="1">
   <Container>
    <DockSplitter count="3" sizes="0.333805;0.33239;0.333805" orientation="-">
     <DockArea name="...">
      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
       <range bottom="0.368228" right="196.811937" left="76.646983" top="32.070386"/>
       <limitY/>
       <curve name="haversine distance [m]" color="#1f77b4"/>
      </plot>
     </DockArea>
     <DockArea name="...">
      <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
       <range bottom="-0.259115" right="196.811937" left="76.646983" top="12.637299"/>
       <limitY/>
       <curve name="/carState/vEgo" color="#17becf"/>
       <curve name="/gpsLocationExternal/speed" color="#bcbd22"/>
      </plot>
     </DockArea>
     <DockSplitter count="2" sizes="0.500516;0.499484" orientation="|">
      <DockArea name="...">
       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
        <range bottom="-0.100000" right="196.811937" left="76.646983" top="0.100000"/>
        <limitY/>
        <curve name="/liveLocationKalman/positionGeodetic/std/0" color="#d62728"/>
        <curve name="/liveLocationKalman/positionGeodetic/std/1" color="#1ac938"/>
       </plot>
      </DockArea>
      <DockArea name="...">
       <plot mode="TimeSeries" style="Lines" flip_y="false" flip_x="false">
        <range bottom="-0.449385" right="196.811937" left="76.646983" top="7.160833"/>
        <limitY/>
        <curve name="/gpsLocationExternal/horizontalAccuracy" color="#ff7f0e"/>
        <curve name="/gpsLocationExternal/verticalAccuracy" color="#f14cc1"/>
        <curve name="/gpsLocationExternal/speedAccuracy" color="#9467bd"/>
       </plot>
      </DockArea>
     </DockSplitter>
    </DockSplitter>
   </Container>
  </Tab>
  <currentTabIndex index="0"/>
 </tabbed_widget>
 <use_relative_time_offset enabled="1"/>
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 <Plugins>
  <plugin ID="DataLoad Rlog"/>
  <plugin ID="Cereal Subscriber"/>
 </Plugins>
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 <customMathEquations>
  <snippet name="haversine distance [m]">
   <global>R = 6378.137 -- Radius of earth in KM</global>
   <function>-- Compute the Haversine distance between 
-- two points defined by latitude and longitude.
-- Return the distance in meters
lat1, lon1 = value, v1
lat2, lon2 = v2, v3
dLat = (lat2 - lat1) * math.pi / 180
dLon = (lon2 - lon1) * math.pi / 180
a = math.sin(dLat/2) * math.sin(dLat/2) +
math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) *
math.sin(dLon/2) * math.sin(dLon/2)
c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a))
d = R * c
distance = d * 1000 -- meters
return distance</function>
   <linked_source>/gpsLocationExternal/latitude</linked_source>
   <additional_sources>
    <v1>/gpsLocationExternal/longitude</v1>
    <v2>/liveLocationKalman/positionGeodetic/value/0</v2>
    <v3>/liveLocationKalman/positionGeodetic/value/1</v3>
   </additional_sources>
  </snippet>
 </customMathEquations>
 <snippets/>
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</root>