11_GPSUpdate.txt

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

# BASIC
Sim.RunMode = Repeat
Sim.EndTime = 25
Sim.Vehicle1 = Quad

# QUAD SETUP
Quad.InitialPos=0,0,-1
Quad.Sensors = SimIMU, SimMag, SimGPS
Quad.ControlType = QuadControl
Quad.ControlConfig = QuadControlParams
QuadControlParams.Trajectory=traj/Square.txt

######################################
#                                    #
# IDEAL SENSORS? IDEAL ESTIMATOR?    #
#                                    #
######################################

Quad.UseIdealEstimator = 0
SimIMU.AccelStd = 0,0,0
SimIMU.GyroStd = 0,0,0

######################################

# GRAPHING
Commands += Toggle.ActualTrajectory

Commands += SetTitle(1,"Y Pos/Vel: True vs Predicted")
Commands += Plot(1,Quad.Pos.Y,"true Y")
Commands += Plot(1,Quad.Est.Y,"est Y")
Commands += Plot(1,Quad.Vel.Y,"true vY")
Commands += Plot(1,Quad.Est.VY,"est vY")

Commands += SetTitle(2,"Pos error vs Z std")
Commands += AddGraph2.Quad.Est.E.Pos
Commands += AddGraph2.Quad.Est.S.Z

Commands += AddGraph2.WindowThreshold(Quad.Est.E.Pos,1,20)