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09_PredictCovariance.txt
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INCLUDE Simulation.txt
INCLUDE QuadPhysicalParams.txt
INCLUDE SimulatedSensors.txt
INCLUDE QuadControlParams.txt
INCLUDE QuadEstimatorEKF.txt
# BASIC
Sim.RunMode = Repeat
#Sim.EndTime = 1
Sim.Vehicle1 = Quad1
Sim.Vehicle2 = Quad2
Sim.Vehicle3 = Quad3
Sim.Vehicle4 = Quad4
Sim.Vehicle5 = Quad5
Sim.Vehicle6 = Quad6
Sim.Vehicle7 = Quad7
Sim.Vehicle8 = Quad8
Sim.Vehicle9 = Quad9
Sim.Vehicle10 = Quad10
Quad.InitialPos=0,0,-1
# REFERENCE
QuadControlParams.Trajectory=traj/Square.txt
# CONTROLLER
Quad.ControlType = QuadControl
Quad.ControlConfig = QuadControlParams
# SENSORS
Quad.Sensors = SimIMU
# GRAPHING
Commands += Toggle.ActualTrajectory
Commands += SetTitle(1,"Estimated X (10 runs) and X Sigma")
Commands += AddGraph1.Quad1.Est.E.X,NoLegend
Commands += AddGraph1.Quad2.Est.E.X,NoLegend
Commands += AddGraph1.Quad3.Est.E.X,NoLegend
Commands += AddGraph1.Quad4.Est.E.X,NoLegend
Commands += AddGraph1.Quad5.Est.E.X,NoLegend
Commands += AddGraph1.Quad6.Est.E.X,NoLegend
Commands += AddGraph1.Quad7.Est.E.X,NoLegend
Commands += AddGraph1.Quad8.Est.E.X,NoLegend
Commands += AddGraph1.Quad9.Est.E.X,NoLegend
Commands += AddGraph1.Quad10.Est.E.X,NoLegend
Commands += Plot(1,Quad1.Est.S.X,"est x std",bold,1,1,1)
Commands += Plot(1,Quad1.Est.S.X,NoLegend,bold,force,negate,1,1,1)
Commands += SetTitle(2,"Estimated VX (10 runs) and VX Sigma")
Commands += AddGraph2.Quad1.Est.E.VX,NoLegend
Commands += AddGraph2.Quad2.Est.E.VX,NoLegend
Commands += AddGraph2.Quad3.Est.E.VX,NoLegend
Commands += AddGraph2.Quad4.Est.E.VX,NoLegend
Commands += AddGraph2.Quad5.Est.E.VX,NoLegend
Commands += AddGraph2.Quad6.Est.E.VX,NoLegend
Commands += AddGraph2.Quad7.Est.E.VX,NoLegend
Commands += AddGraph2.Quad8.Est.E.VX,NoLegend
Commands += AddGraph2.Quad9.Est.E.VX,NoLegend
Commands += AddGraph2.Quad10.Est.E.VX,NoLegend
Commands += Plot(2,Quad1.Est.S.VX,"est vx std",bold,1,1,1)
Commands += Plot(2,Quad1.Est.S.VX,NoLegend,bold,force,negate,1,1,1)
#
[Quad1 : Quad]
[Quad2 : Quad]
[Quad3 : Quad]
[Quad4 : Quad]
[Quad5 : Quad]
[Quad6 : Quad]
[Quad7 : Quad]
[Quad8 : Quad]
[Quad9 : Quad]
[Quad10 : Quad]
[]
_DEBUG.NO_QUAD_GRAPHS=1