From 93e7b05f049f6cf9fcf4d64c4995ce8e0dbbda08 Mon Sep 17 00:00:00 2001 From: Natsoulas Date: Sun, 8 Dec 2024 17:35:38 -0700 Subject: [PATCH 1/2] remove unnecessary 1.5 multiplier --- src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp b/src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp index 946516c0b5..6f589d78cf 100755 --- a/src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp +++ b/src/simulation/sensors/coarseSunSensor/coarseSunSensor.cpp @@ -134,7 +134,7 @@ void CoarseSunSensor::Reset(uint64_t CurrentSimNanos) this->noiseModel.setRNGSeed(this->RNGSeed); - nMatrix(0,0) = this->senNoiseStd*1.5; + nMatrix(0,0) = this->senNoiseStd; this->noiseModel.setNoiseMatrix(nMatrix); bounds(0,0) = this->walkBounds; From 4e24a7953be5e5fed025af58ef185f7df47e1077 Mon Sep 17 00:00:00 2001 From: Natsoulas Date: Sun, 8 Dec 2024 17:57:30 -0700 Subject: [PATCH 2/2] update relevant portion of unit test --- .../sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py b/src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py index 2d617ba736..c4c93b8aec 100644 --- a/src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py +++ b/src/simulation/sensors/coarseSunSensor/_UnitTest/test_coarseSunSensor.py @@ -52,7 +52,7 @@ (False, 1.0, 3 * np.pi / 8., 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 10., 1e-10, "fieldOfView", -2, 5.), (False, 1.0, np.pi / 2., 0.15, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 10., 1e-10, "kellyFactor", 1, 5.), (False, 1.0, np.pi / 2., 0.0, 2.0, 0.0, 0.0, 0.0, 1.0, 0.0, 10., 1e-10, "scaleFactor", 2, 5.), - (False, 1.0, np.pi / 2., 0.0, 1.0, 0.0, 0.125, 0.0, 1.0, -0.375, 0.375, 0.5, "deviation", -5, 1.), + (False, 1.0, np.pi / 2., 0.0, 1.0, 0.0, 0.225, 0.0, 1.0, -0.375, 0.375, 3e-2, "deviation", -5, 1.), # low tolerance for std deviation comparison (False, 1.0, np.pi / 2., 0.0, 1.0, 0.0, 0.0, 0.5, 1.0, 0.0, 10., 1e-10, "albedo", -4, 5.), (False, 1.0, np.pi / 2., 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.25, 0.75, 1e-10, "saturation", 5, 2.),