Commit d1da9431 by Adrian Sieler

Implemented Calibration Analysis Functionalities --> NEEDS TO BE MERGED IN MASTER AT SOME POINT

parent 9fe0e148
actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
channels:
mass_observer_deflationpath:
coefficient_Pout: [-0.0016138376119656517, -0.003192755870432551, -0.0027246052955936517,
-0.004287545348540131, -0.003079485227051801, -0.0033152667840779804, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [-0.023750618271517254, 0.13329462972884265, 0.16369766136611297,
0.2443659588782765, 0.1239926320245015, 0.28796883036306475, 0, 0]
coefficient_friction: [0.03597662264989182, 0.1381822987529322, -0.06398400200268678,
0.08420332978145728, 0.08301938934983194, -0.08466526822581913, 0, 0]
coefficient_injector: [-0.7276429151647772, -0.7919767534814949, -0.7028292852468216,
-0.7682631315425218, -0.756974220292314, -0.6568178065720657, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
mass_observer_inflationpath:
coefficient_Pout: [0.0057426067761001676, 0.008303239950899072, 8.162728921694111e-05,
0.004394653720551802, 0.006559843092908399, -0.0012357965993755327, 0, 0]
coefficient_Psupply: [-0.02217171207511554, -0.03603638367877466, -0.0070109903066997645,
-0.01678961274608178, -0.026354111503867975, 0.0010705949226798355, 0, 0]
coefficient_bias: [8.439278448935022, 14.030456809239528, 3.1000706687380664,
6.468169083091357, 9.99017630857474, -0.25559380980320867, 0, 0]
coefficient_friction: [0.672878687818571, 0.8709396474015825, 0.19283942797958767,
0.5537212919415638, 0.7182918020940005, 0.3206675583350127, 0, 0]
coefficient_injector: [0.40834397347057055, 0.37240925398103725, 0.4369676194816456,
0.44415513496043174, 0.4051280988398018, 0.49274511370125856, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
nominal_volume: []
os: {hostname: beagleX.local}
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset: [0, 0, 0, 0, 0, 0, 0, 0]
\ No newline at end of file
actuators:
actuation_ratio: [0.02, 0.02, 0.02, 0.02, 0, 0, 0, 0]
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout: [-0.0016138376119656517, -0.003192755870432551, -0.0027246052955936517,
-0.004287545348540131, -0.003079485227051801, -0.0033152667840779804, 0, 0]
coefficient_Psupply: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0, 0]
coefficient_bias: [-0.023750618271517254, 0.13329462972884265, 0.16369766136611297,
0.2443659588782765, 0.1239926320245015, 0.28796883036306475, 0, 0]
coefficient_friction: [0.03597662264989182, 0.1381822987529322, -0.06398400200268678,
0.08420332978145728, 0.08301938934983194, -0.08466526822581913, 0, 0]
coefficient_injector: [-0.7276429151647772, -0.7919767534814949, -0.7028292852468216,
-0.7682631315425218, -0.756974220292314, -0.6568178065720657, 0, 0]
minimal_mass_change: [-1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5, -1.5]
coefficient_Pout:
- -0.001405368983026712
- -0.0027134613836114247
- -0.002742792779134924
- -0.003701770545235134
- -0.0027557753082874605
- -0.0033389288053653856
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- -0.06173581424465446
- 0.03732621450700435
- 0.1609718174741026
- 0.131456858234964
- 0.05782293830266383
- 0.2885566323162898
- 0
- 0
coefficient_friction:
- -0.08347468405751358
- -0.0499513594066767
- -0.06387057417806567
- -0.002816258056258128
- -0.047481757568990604
- -0.08361543536645534
- 0
- 0
coefficient_injector:
- -0.6763958046636112
- -0.7104616525118725
- -0.7027315450262271
- -0.7313661617282282
- -0.7006894843374212
- -0.6571351132239684
- 0
- 0
minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout: [0.0057426067761001676, 0.008303239950899072, 8.162728921694111e-05,
0.004394653720551802, 0.006559843092908399, -0.0012357965993755327, 0, 0]
coefficient_Psupply: [-0.02217171207511554, -0.03603638367877466, -0.0070109903066997645,
-0.01678961274608178, -0.026354111503867975, 0.0010705949226798355, 0, 0]
coefficient_bias: [8.439278448935022, 14.030456809239528, 3.1000706687380664,
6.468169083091357, 9.99017630857474, -0.25559380980320867, 0, 0]
coefficient_friction: [0.672878687818571, 0.8709396474015825, 0.19283942797958767,
0.5537212919415638, 0.7182918020940005, 0.3206675583350127, 0, 0]
coefficient_injector: [0.40834397347057055, 0.37240925398103725, 0.4369676194816456,
0.44415513496043174, 0.4051280988398018, 0.49274511370125856, 0, 0]
minimal_mass_change: [1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5]
coefficient_Pout:
- -0.0010347658182192584
- -0.0022583198492191646
- 0.00018642500563520082
- -0.0008610714300482968
- -0.0012647529456730486
- -0.0013267134341968369
- 0
- 0
coefficient_Psupply:
- 0.0027243225213904538
- 0.0048706195700416975
- -0.007846427014656442
- 0.002940176567946278
- 0.002753645611263586
- 0.0015986452547875904
- 0
- 0
coefficient_bias:
- -0.20030527037324575
- -0.290301331706587
- 3.4368184393229235
- -0.4228472521902624
- -0.1482430915384807
- -0.4637377365770199
- 0
- 0
coefficient_friction:
- 0.3656884476104096
- 0.3387361405344818
- 0.1918728079834794
- 0.33417235792555117
- 0.357363124777096
- 0.31344769281439916
- 0
- 0
coefficient_injector:
- 0.55038806689384
- 0.616524567872419
- 0.4372027047929871
- 0.5473281799877591
- 0.5717195087158988
- 0.4965940987260834
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os: {hostname: beagleX.local}
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset: [0, 0, 0, 0, 0, 0, 0, 0]
\ No newline at end of file
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
......@@ -11,12 +11,12 @@ actuators:
channels:
mass_observer_deflationpath:
coefficient_Pout:
- 0.0003942602357653284
- 8.491420037977254e-06
- -0.0003401420931218551
- -4.9414866437627135e-05
- -0.0085264956125634
- 0.00011927327834701137
- -0.0016168662595908562
- -0.0015097471114139918
- -0.0005800718977539967
- -0.0021242122064543093
- -0.0007666628821214218
- -0.0015958434010035043
- 0
- 0
coefficient_Psupply:
......@@ -29,30 +29,30 @@ channels:
- 0
- 0
coefficient_bias:
- -0.3750501170343181
- -0.005420162115464589
- 0.05584129071273001
- 0.009996210373142463
- 1.065639052976083
- -0.01686756831936476
- 0.012864487173452233
- -0.03961815940473912
- -0.033479687115889334
- 0.024768407633688483
- -0.05523629863613699
- -0.00685537207295539
- 0
- 0
coefficient_friction:
- 0.013283770242813976
- -0.008466872211295256
- 0.008019545057219342
- -0.003857807676627287
- 0.05618242260210006
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- -0.0475232371606362
- -0.033409085164536015
- -0.06156819914347921
- -0.024469513800780215
- 0
- 0
coefficient_injector:
- -0.7431078438297761
- 0.005135111462639147
- -0.004251713400699453
- 0.0010412836855414225
- -0.7838556532728856
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- -0.7189081530978955
- -0.6955506163303652
- -0.7349870878777801
- 0
- 0
minimal_mass_change:
......@@ -66,48 +66,48 @@ channels:
- -1.5
mass_observer_inflationpath:
coefficient_Pout:
- 0.0017820504451176286
- -0.00013806976604562152
- -0.0001274000806198666
- 4.031987868970344e-05
- -0.0031482508411512385
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- -0.0015187968884620403
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- -0.0010822644255990574
- -0.0012522323328682569
- -0.001042770323861337
- -0.0020975356644820594
- 0
- 0
coefficient_Psupply:
- -0.008997744542392211
- 0.008318620956908865
- -0.01029505304184139
- 0.0015200003570879825
- -0.009394949844210798
- -0.005323670298707428
- 0.0035167787644046194
- 0.00366581115432901
- 0.003675122134413233
- 0.0016149816060655382
- 0.0015850932237264997
- 0.0014128457730333954
- 0
- 0
coefficient_bias:
- 3.633836705860608
- -3.4772062426932617
- 4.338040375731234
- -0.638627940572365
- 4.650454270657269
- 2.231378564310337
- -0.5695754204447123
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- -0.8537774711286179
- 0.16629990594688593
- -0.04974019015171294
- 0.48005163919303584
- 0
- 0
coefficient_friction:
- 0.509892647666584
- -0.000916041586515823
- 0.0003601862127722789
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- 0.5277227693481906
- -0.0002504247554708295
- 0.3594292142048378
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- 0.2936295322430817
- 0.32608895569950813
- 0.33858288826372773
- 0.34745529142482773
- 0
- 0
coefficient_injector:
- 0.39788043720883176
- 0.0007525427634894223
- -0.0004781940076713372
- -0.0006966556003567825
- 0.49357400212433356
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- 0.5702735733959337
- 0.5227517790630235
- 0.5329925944591092
- 0.5368289031801242
- 0.556454574839814
- 0.5840851175770825
- 0
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minimal_mass_change:
......
actuators:
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout:
- -0.0011953114306473733
- -0.0011025349470711126
- -0.002590009531786657
- -0.0012041077659918878
- -0.00023025353459974374
- -0.0010339639975168878
- 0
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coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- -0.023269632656559125
- -0.022170139498099317
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- -0.059291576766838716
- -0.09099094359570259
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coefficient_friction:
- -0.06072514071072951
- -0.05519541423321601
- -0.02983153580582889
- -0.19152933671299482
- -0.018364344150187974
- -0.04564445849779268
- 0
- 0
coefficient_injector:
- -0.7046284788847164
- -0.7487429453509116
- -0.7469393440397153
- -0.6094477118068484
- -0.7410771033924777
- -0.6882288604063046
- 0
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minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout:
- -0.0003420681935070538
- -0.0005206614044659261
- -0.0016752383009075228
- -0.0011515371840516045
- -0.0013615349575298754
- -0.0004740042583312268
- 0
- 0
coefficient_Psupply:
- 0.0013863520590192584
- 0.0018006002626035256
- 0.0036229202698797574
- 0.0026507249015338967
- 0.001481174727007592
- 0.0015966482237661122
- 0
- 0
coefficient_bias:
- -0.17793560166169264
- -0.31364324202995597
- -0.2512885357812973
- -0.26208382700143495
- 0.45629317544545067
- -0.2455076668926246
- 0
- 0
coefficient_friction:
- 0.3650697010008936
- 0.3701854071119079
- 0.3629188270766987
- 0.37517343076518944
- 0.3404895478693579
- 0.3640379446149083
- 0
- 0
coefficient_injector:
- 0.5681588230865775
- 0.6010500144819103
- 0.5924780917490596
- 0.5656439799337447
- 0.6013353990107136
- 0.5505428206483589
- 0
- 0
minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout:
- -0.00021839469083741354
- -0.001047576925006511
- -0.0017716798737501972
- -0.0004318054556398541
- -0.0019281254606047485
- -0.0007907519077799066
- 0
- 0
coefficient_Psupply:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0
- 0
coefficient_bias:
- -0.060890504417947966
- -0.023131813629380105
- 0.010264066469737543
- -0.07720480205575164
- 0.002084471095121998
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- 0
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coefficient_friction:
- -0.032100557170735296
- -0.05193403871218755
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- -0.03756005986300913
- -0.04286431433912375
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- 0
- 0
coefficient_injector:
- -0.6868977397443274
- -0.7219832316012936
- -0.7142624216278167
- -0.7174446429292
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minimal_mass_change:
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
- -1.5
mass_observer_inflationpath:
coefficient_Pout:
- -0.0012149842988212894
- -0.0010809755818726762
- -0.0005673068506719286
- -0.0009589690429289952
- -0.0011112155145036491
- -0.0014928498267137475
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coefficient_Psupply:
- 0.0032209579621098484
- 0.0031576796014714066
- 0.0019395599182181272
- 0.0015731341199635741
- 0.00142034301665211
- 0.002718240371216406
- 0
- 0
coefficient_bias:
- -0.4387685650125892
- -0.44298878491565574
- -0.34209343360697275
- -0.10185224292538919
- 0.1120695934422784
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- 0
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coefficient_friction:
- 0.3487013796739808
- 0.36478743167689703
- 0.35698337392789575
- 0.3436578461621237
- 0.3675652218764999
- 0.3599175378426898
- 0
- 0
coefficient_injector:
- 0.5669769938968778
- 0.5927236324171203
- 0.5742204779491716
- 0.5589323087175294
- 0.5858300930709004
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- 0
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minimal_mass_change:
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
- 1.5
nominal_volume: []
os:
hostname: beagleX.local
valves:
lohm_deflate: []
lohm_inflate: []
minimum_deflation_period: []
minimum_inflation_period: []
nominal_pressure_supply: 280.0
on_off_time_offset:
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
actuators:
actuation_ratio:
- 0.02
- 0.02
- 0.02
- 0.02
- 0
- 0
- 0
- 0
channels:
mass_observer_deflationpath:
coefficient_Pout:
- -0.0013827112312906368
- -0.0017031053408351224
- -0.0018018991681658719
- -0.0024621338235537842
- -0.0008132986576195137
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- 0
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coefficient_Psupply:
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- 0.0
- 0.0
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- 0
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coefficient_bias:
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- 0.0351356723076961
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- -0.0024284216073802156
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- 0
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coefficient_friction:
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