X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fdwm1000.py;h=b16ff9ecb30faca5ef2727d391bb15e7866da337;hp=535d81e94cb316e09c1c1fcd42546169fb3e048f;hb=2f194b3fe82009a77b79021f0c57e6ca55c1706f;hpb=1713a06fdfc45670fb8c0c6efb8c158fad083968

diff --git a/scripts/dwm1000.py b/scripts/dwm1000.py
index 535d81e..b16ff9e 100755
--- a/scripts/dwm1000.py
+++ b/scripts/dwm1000.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 # -*- coding: iso-8859-15 -*-
 
-VISULAIZE = False
+VISUALIZE = False
 
 import threading
 import struct
@@ -16,7 +16,7 @@ from std_msgs.msg import Float32
 from nav_msgs.msg import Odometry
 from wild_thumper.srv import DWM1000Center, DWM1000CenterResponse
 from pyshared.simple_kalman import simple_kalman
-if VISULAIZE:
+if VISUALIZE:
 	import matplotlib.pyplot as plt
 
 
@@ -64,9 +64,9 @@ class DW1000(threading.Thread):
 
 class Position:
 	def __init__(self):
-		R = np.matrix([[0.045, 0.5], [0.0, 0.008]])	# Varianz des Messfehlers
-		P_est = 1e-3 * np.eye(2)			# Fehlerkovarianz
-		Q = np.matrix([[0.001, 0.0], [0.0, 0.00001]])	# Systemrauschen
+		R = np.matrix([[0.5, 0.0], [0.0, 0.2]])		# Varianz des Messfehlers
+		P_est = 1e50 * np.eye(2)			# Fehlerkovarianz
+		Q = np.matrix([[0.001, 0.0], [0.0, 0.0001]])	# Systemrauschen
 		self.filter_xy = simple_kalman(np.array([[1.0, 0.0]]).T, P_est, Q, R)
 		self.speed_x = 0
 		self.speed_y = 0
@@ -106,6 +106,7 @@ class Position:
 			self.filter_xy.set_measure_cov(np.matrix([[cov_00, 0.0], [0.0, cov_11]]))
 		else:
 			pos = self.filter_xy.x_est
+			self.filter_xy.P_est = np.matrix(1e50 * np.eye(2)) # reset estimate when lost
 
 
 		x = pos.item((0, 0))
@@ -146,7 +147,7 @@ if __name__ == "__main__":
 
 			diff = abs(dist_left - dist_right)
 			if diff >= dist_l_r:
-				# difference to high, correct to maximum
+				# difference too high, correct to maximum
 				off = diff - dist_l_r + 0.01
 				if dist_left > dist_right:
 					dist_left -= off/2
@@ -167,7 +168,7 @@ if __name__ == "__main__":
 
 				x, y = pos.filter(x, y)
 
-				if VISULAIZE:
+				if VISUALIZE:
 					circle_left = plt.Circle((-dist_l_r/2, 0), dwleft.distance, color='red', fill=False)
 					circle_right = plt.Circle((dist_l_r/2, 0), dwright.distance, color='green', fill=False)
 					plt.gca().add_patch(circle_left)