Changeset 1236 for applications/pmsm

Timestamp:

10/27/10 11:10:44 (14 years ago)

Author:

smidl

Message:

print P + high variance

Files:

• applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp (modified) (2 diffs)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp

@@ -450 +450 @@
                 ivec Ud(Uf,16);
                 log_level.store(logU,get_from_ivec(Ud));
-        }
+                ivec dd(Df,4);
+                imat U(Uf,4,4);
+                mat U2=to_mat(U)/32768;
+                mat PP=U2*diag(to_vec(dd))*U2.T();
+                vec pp(PP._data(),16);
+                log_level.store(logP,pp);
+         }
          {
                 ivec Gd(G,16);
@@ -487 +493 @@
 {
         // Tuning of matrix Q
-        Q[0]=prevod(.001,15);       // 0.05
+        Q[0]=prevod(.01,15);       // 0.05
         Q[5]=Q[0];
-        Q[10]=prevod(0.001,15);      // 1e-3
-        Q[15]=prevod(0.0001,15);      // 1e-3
+        Q[10]=prevod(0.01,15);      // 1e-3
+        Q[15]=prevod(0.01,15);      // 1e-3
 
         Uf[0]=0x7FFF;// !       // 0.05