====== Fourth test, 8th November ======

Same as before, filter appears to be working perfectly, need to do a car test still, but the rate output has still captured some of the turns.

{{code:test4headings.png?970|}} 

{{code:test4positions.png?970|}}

{{code:test4altitude.png?970|}}

====== Second outside test, 20th October ======

This time data was recorded at 1Hz. Unfortunately it is clear holding the payload enclosure with one hand whilst running across a muddy field leaves the gyro output buried in noise. However the kalman filter seems to be coping well. Test three will have to use a bike.

Same data as previous, longer test run and intervals at 1Hz this time.

{{code:test2positions.png|}}

{{code:test2altitude.png|}}

Around the 75 seciond mark it can be seen that the heading is around due south. The gps heading is wandering about the +-PI boundary, and it can be seen that the filtered heading is not behaving as it should, and is trying to follow the gps. A change to the code in kalman.c is probably the best solution to this - the top of the residual vector needs to be maintained in the +-PI range so the filter is stable under these conditions.

{{code:test2headings.png?720|}}


====== First outside test, 15th October ======

The packet output was limited to 0.2 Hz by the radio module.

{{code:test1positions.png|}}


The x axis on the altitude and the headings graph is in samples. Headings are in radians and rate in radians/s


{{code:test1altitudes.png|}}
{{code:test1headings-0.png|}}