sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

plot kf

Browse Source
pull/35700/head
Shane Smiskol 3 months ago
parent c79fd2c0ae
commit 8bed71c349
1 changed files with 2 additions and 0 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      estimate_lat_jerk.py

2
estimate_lat_jerk.py
Unescape View File

@ -60,6 +60,7 @@ for msg in lr:
jerks3.append(_j3) jerks3.append(_j3)
# jerks4.append(_j4) # jerks4.append(_j4)
jerks5.append(_j5) jerks5.append(_j5)
kf_accels.append(j2.kf.x[0][0])
accels.append(roll_compensated_lateral_accel) accels.append(roll_compensated_lateral_accel)
print(roll_compensated_lateral_accel) print(roll_compensated_lateral_accel)
@ -68,6 +69,7 @@ for msg in lr:
fig, axs = plt.subplots(2, sharex=True) fig, axs = plt.subplots(2, sharex=True)
axs[0].plot(accels, label='Lateral Accel') 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].set_ylabel('Lateral Acceleration (m/s²)')
axs[0].legend() axs[0].legend()

Write Preview
Loading…
Cancel
Save