exp_231206_scriptAxisTest.m

Go to the documentation of this file.

%
% For LICENSE / TERMS OF USE, see the file LICENSE in the root directory of the repository.
 
clear; close all; clc;
 
%% add functions path and get data path
addpath(genpath('../../functions'));
datapath = getDataPath();
datapath = fullfile(datapath, "self_captured/231206_axis_test");
 
%% load data
data = jumpReadData(fullfile(datapath, "S-24-A-13026_000.BIN"), "plot_time_correction",true);
 
%% 3x2 subplot with the acceleration data left and the gyroscope data right
figure(1);
subplot(3,2,1);
plot(data.tt.t, data.tt.acc(:,1));
title("acc x");
subplot(3,2,3);
plot(data.tt.t, data.tt.acc(:,2));
title("acc y");
subplot(3,2,5);
plot(data.tt.t, data.tt.acc(:,3));
title("acc z");
subplot(3,2,2);
plot(data.tt.t, data.tt.gyr(:,1));
title("gyro x");
subplot(3,2,4);
plot(data.tt.t, data.tt.gyr(:,2));
title("gyro y");
subplot(3,2,6);
plot(data.tt.t, data.tt.gyr(:,3));
title("gyro z");
 
%% Inertial Orientation Estimation with VQF
% vqf = MyVqf();
% 
% IOE.vqf = vqf.filterOffline(data.tt.acc, data.tt.gyr, data.tt.mag);
% 
% %% animate the quaternion
% 
% animate_quat(IOE.vqf.quat9D);