old_contents: import fileinput
  import math
  import numpy as np
  import re
  from scipy import interpolate # strait up linear interpolation, nothing fancy
  
  yaw_interp = None
  pitch_interp = None
  roll_interp = None
  north_interp = None
  east_interp = None
  down_interp = None
  
  def load(filename):
      global yaw_interp
      global pitch_interp
      global roll_interp
      global north_interp
      global east_interp
      global down_interp
      
      f = fileinput.input(filename)
      table = []
      for line in f:
          tokens = re.split('[,\s]+', line.rstrip())
          time = float(tokens[0])
          yaw_error = float(tokens[1])
          pitch_error = float(tokens[2])
          roll_error = float(tokens[3])
          n_error = float(tokens[4])
          e_error = float(tokens[5])
          d_error = float(tokens[6])
          table.append( [ time,
                          yaw_error, pitch_error, roll_error,
                          n_error, e_error, d_error ] )
          
      array = np.array(table)
      x = array[:,0]
      yaw_interp = interpolate.interp1d(x, array[:,1], bounds_error=False, fill_value=0.0)
      pitch_interp = interpolate.interp1d(x, array[:,2], bounds_error=False, fill_value=0.0)
      roll_interp = interpolate.interp1d(x, array[:,3], bounds_error=False, fill_value=0.0)
      north_interp = interpolate.interp1d(x, array[:,4], bounds_error=False, fill_value=0.0)
      east_interp = interpolate.interp1d(x, array[:,5], bounds_error=False, fill_value=0.0)
      down_interp = interpolate.interp1d(x, array[:,6], bounds_error=False, fill_value=0.0)
  
new_contents: import fileinput
  import math
  from matplotlib import pyplot as plt
  import numpy as np
  import pandas as pd
  import re
  from scipy import interpolate # strait up linear interpolation, nothing fancy
  import scipy.signal as signal
  
  yaw_interp = None
  pitch_interp = None
  roll_interp = None
  north_interp = None
  east_interp = None
  down_interp = None
  
  def load_horiz(filename):
      global roll_interp
      global pitch_interp
      
      data = pd.read_csv(filename)
      data.set_index('flight time (sec)', inplace=True, drop=False)
  
      # time range / hz
      tmin = data['flight time (sec)'].min()
      tmax = data['flight time (sec)'].max()
      span_sec = tmax - tmin
      feat_count = len(data['flight time (sec)'])
      print("number of video records:", feat_count)
      hz = int(round((feat_count / span_sec)))
  
      # smooth
      cutoff_hz = 1
      b, a = signal.butter(2, cutoff_hz, fs=hz)
      data['ekf roll error (rad)'] = \
          signal.filtfilt(b, a, data['ekf roll error (rad)'])
      data['ekf pitch error (rad)'] = \
          signal.filtfilt(b, a, data['ekf pitch error (rad)'])
  
      if False:
          plt.figure()
          plt.plot(data['ekf roll error (rad)'], label="roll error")
          plt.plot(data['ekf pitch error (rad)'], label="pitch error")
          plt.xlabel("Flight time (sec)")
          plt.ylabel("Rad")
          plt.legend()
          plt.show()
  
      # interpolators
      roll_interp = interpolate.interp1d(data['flight time (sec)'], data['ekf roll error (rad)'], bounds_error=False, fill_value=0.0)
      pitch_interp = interpolate.interp1d(data['flight time (sec)'], data['ekf pitch error (rad)'], bounds_error=False, fill_value=0.0)
  
      
  def load_old(filename):
      global yaw_interp
      global pitch_interp
      global roll_interp
      global north_interp
      global east_interp
      global down_interp
      
      f = fileinput.input(filename)
      table = []
      for line in f:
          tokens = re.split('[,\s]+', line.rstrip())
          time = float(tokens[0])
          yaw_error = float(tokens[1])
          pitch_error = float(tokens[2])
          roll_error = float(tokens[3])
          n_error = float(tokens[4])
          e_error = float(tokens[5])
          d_error = float(tokens[6])
          table.append( [ time,
                          yaw_error, pitch_error, roll_error,
                          n_error, e_error, d_error ] )
          
      array = np.array(table)
      x = array[:,0]
      yaw_interp = interpolate.interp1d(x, array[:,1], bounds_error=False, fill_value=0.0)
      pitch_interp = interpolate.interp1d(x, array[:,2], bounds_error=False, fill_value=0.0)
      roll_interp = interpolate.interp1d(x, array[:,3], bounds_error=False, fill_value=0.0)
      north_interp = interpolate.interp1d(x, array[:,4], bounds_error=False, fill_value=0.0)
      east_interp = interpolate.interp1d(x, array[:,5], bounds_error=False, fill_value=0.0)
      down_interp = interpolate.interp1d(x, array[:,6], bounds_error=False, fill_value=0.0)
  
subject: Support new ekf roll/pitch correction (derived from the new horizon tracker.