plot kf

2 weeks ago · 8bed71c349
parent c79fd2c0ae
commit 8bed71c349
1 changed files with 2 additions and 0 deletions
--- a/estimate_lat_jerk.py
+++ b/estimate_lat_jerk.py
@ -60,6 +60,7 @@ for msg in lr:
    jerks3.append(_j3)
    # jerks4.append(_j4)
    jerks5.append(_j5)
+    kf_accels.append(j2.kf.x[0][0])
    accels.append(roll_compensated_lateral_accel)

    print(roll_compensated_lateral_accel)
@ -68,6 +69,7 @@ for msg in lr:
 fig, axs = plt.subplots(2, sharex=True)

 axs[0].plot(accels, label='Lateral Accel')
+axs[0].plot(kf_accels, label='Kalman filter accel')
 axs[0].set_ylabel('Lateral Acceleration (m/s²)')
 axs[0].legend()