06_SensorNoise.txt

### STUDENT SECTION

MeasuredStdDev_GPSPosXY = 0.714
MeasuredStdDev_AccelXY = .512

### END STUDENT SECTION

INCLUDE Simulation.txt
INCLUDE QuadPhysicalParams.txt
INCLUDE SimulatedSensors.txt
INCLUDE QuadControlParams.txt

# simulation setup
Sim.RunMode = Repeat
Sim.EndTime = 10
Sim.Vehicle1 = Quad

# Controller selection
Quad.ControlType = QuadControl
Quad.ControlConfig = QuadControlParams

# reference trajectory
QuadControlParams.Trajectory=0,0,-1

# SigmaThreshold syntax:
# SigmaThreshold(signal, refValue, sigma, minOKPercent, maxOKPercent, okWindow)
#   looks at the percentage of points from <signal> being inside the range of [refValue-sigma, refValue+sigma]
#   if this percentage is inside [minOKPercent,maxOKPercent] for at least okWindow seconds,
#   the threshold visualization turns green

# graphing commands
Commands += SetTitle(1,"GPS")
Commands += Plot(1,Quad.GPS.X,"x position",0,1,1)
Commands += AddGraph1.SigmaThreshold(Quad.GPS.X, Quad.Pos.X, MeasuredStdDev_GPSPosXY,64,73,2)
Commands += AddGraph1.LogToFile

Commands += SetTitle(2,"Accelerometer")
Commands += Plot(2,Quad.IMU.AX,"x accel",.5,.7,1)
Commands += AddGraph2.SigmaThreshold(Quad.IMU.AX, 0, MeasuredStdDev_AccelXY,64,73,2)
Commands += AddGraph2.LogToFile

Quad.Sensors = SimIMU, SimGPS, SimMag

# Vehicle-specific config
[Quad]
InitialPos=0,0,-1