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Added global RSSI flag and extended prop code to handle 8 NUCs

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This commit is contained in:
Markus Bullmann
2019-11-20 14:44:39 +01:00
parent 39aba04943
commit bdc82d04c7
6 changed files with 29 additions and 32 deletions
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23
code/mainProb.cpp
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@@ -119,7 +119,7 @@ static void plotDensity(Plotty& plot, std::vector<std::pair<Point2, double>>& de
for (auto it = density.begin(); ; std::advance(it, 2))
{
if (it > density.end())
if (it >= density.end())
break;
auto p = *it;
@@ -179,28 +179,15 @@ static CombinedStats<float> run(Settings::DataSetup setup, int walkIdx, std::str
plot.plot();
// wifi
std::array<Kalman, 4> ftmKalmanFilters{
Kalman(1, setup.NUCs.at(Settings::NUC1).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(2, setup.NUCs.at(Settings::NUC2).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(3, setup.NUCs.at(Settings::NUC3).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev),
Kalman(4, setup.NUCs.at(Settings::NUC4).kalman_measStdDev, kalman_procNoiseDistStdDev, kalman_procNoiseVelStdDev)
};
std::array<Point2, 4> apPositions{
Settings::CurrentPath.NUCs.at(Settings::NUC1).position.xy(),
Settings::CurrentPath.NUCs.at(Settings::NUC2).position.xy(),
Settings::CurrentPath.NUCs.at(Settings::NUC3).position.xy(),
Settings::CurrentPath.NUCs.at(Settings::NUC4).position.xy(),
};
std::vector<WiFiMeasurement> obs;
Timestamp lastTimestamp = Timestamp::fromMS(0);
const float sigma = 3.5;
const int movAvgWnd = 15;
std::array<MovingAVG<float>, 4> movAvgsFtm{ {movAvgWnd,movAvgWnd,movAvgWnd,movAvgWnd} };
std::array<MovingAVG<float>, 4> movAvgsRssi{ {movAvgWnd,movAvgWnd,movAvgWnd,movAvgWnd} };
//const float sigma = 3.5;
//const int movAvgWnd = 15;
//std::array<MovingAVG<float>, 4> movAvgsFtm{ {movAvgWnd,movAvgWnd,movAvgWnd,movAvgWnd} };
//std::array<MovingAVG<float>, 4> movAvgsRssi{ {movAvgWnd,movAvgWnd,movAvgWnd,movAvgWnd} };
std::vector<float> errorValuesFtm, errorValuesRssi;
std::vector<int> timestamps;