altos: Add nickle kalman implementation.

[fw/altos] / src / kalman / plotkalman

diff --git a/src/kalman/plotkalman b/src/kalman/plotkalman
new file mode 100755 (executable)
index 0000000..d2041df
--- /dev/null
+++ b/src/kalman/plotkalman
@@ -0,0 +1,24 @@
+#!/bin/sh
+for i in "$@"; do
+gnuplot -p << EOF
+set title "$i"
+set ylabel "height (m)"
+set y2label "velocity (m/s), acceleration (m/s²)"
+set xlabel "time (s)"
+set xtics border out nomirror
+set ytics border out nomirror
+set y2tics border out nomirror
+plot "$i" using 1:2 with lines lt 1 axes x1y1 title "raw height",\
+     "$i" using 1:3 with lines lt 1 axes x1y2 title "raw speed",\
+     "$i" using 1:4 with lines lt 1 axes x1y2 title "raw accel",\
+     "$i" using 1:5 with lines lt 2 axes x1y1 title "both height",\
+     "$i" using 1:6 with lines lt 2 axes x1y2 title "both vel",\
+     "$i" using 1:7 with lines lt 2 axes x1y2 title "both accel",\
+     "$i" using 1:8 with lines lt 3 axes x1y1 title "accel height",\
+     "$i" using 1:9 with lines lt 3 axes x1y2 title "accel vel",\
+     "$i" using 1:10 with lines lt 3 axes x1y2 title "accel accel",\
+     "$i" using 1:11 with lines lt 4 axes x1y1 title "baro height",\
+     "$i" using 1:12 with lines lt 4 axes x1y2 title "baro vel",\
+     "$i" using 1:13 with lines lt 4 axes x1y2 title "baro accel"
+EOF
+done