From dabf129dafdadb28c0854843e67b921c1de42c30 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 5 Jun 2017 20:53:03 +1000 Subject: [PATCH] matlab: Update EKF replay script files Add automatic save of output results --- matlab/EKF_replay/Filter/replay_apm_data.m | 13 +++++++++++-- matlab/EKF_replay/Filter/replay_px4_data.m | 12 +++++++++++- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/matlab/EKF_replay/Filter/replay_apm_data.m b/matlab/EKF_replay/Filter/replay_apm_data.m index a784832c7a..56fd2fb651 100644 --- a/matlab/EKF_replay/Filter/replay_apm_data.m +++ b/matlab/EKF_replay/Filter/replay_apm_data.m @@ -16,7 +16,7 @@ else flow_data = []; end -% oad data required for ZED camera replay +% load data required for ZED camera replay if exist('../TestData/APM/viso_data.mat','file') load '../TestData/APM/viso_data.mat'; else @@ -24,5 +24,14 @@ else end run('SetParameterDefaults.m'); + output = RunFilter(param,imu_data,mag_data,baro_data,gps_data,rng_data,flow_data,viso_data); -PlotData(output); \ No newline at end of file + +PlotData(output); + +folder = '../OutputData'; +fileName = '../OutputData/ekf_replay_output.mat'; +if ~exist(folder,'dir') + mkdir(folder); +end +save(fileName,'output'); \ No newline at end of file diff --git a/matlab/EKF_replay/Filter/replay_px4_data.m b/matlab/EKF_replay/Filter/replay_px4_data.m index 8131d04162..a93f2642c9 100644 --- a/matlab/EKF_replay/Filter/replay_px4_data.m +++ b/matlab/EKF_replay/Filter/replay_px4_data.m @@ -4,6 +4,16 @@ load '../TestData/PX4/baro_data.mat'; load '../TestData/PX4/gps_data.mat'; load '../TestData/PX4/imu_data.mat'; load '../TestData/PX4/mag_data.mat'; + run('SetParameterDefaults.m'); + output = RunFilter(param,imu_data,mag_data,baro_data,gps_data); -PlotData(output); \ No newline at end of file + +PlotData(output); + +folder = '../OutputData'; +fileName = '../OutputData/ekf_replay_output.mat'; +if ~exist(folder,'dir') + mkdir(folder); +end +save(fileName,'output'); \ No newline at end of file