_letter simulator</a> based on the ROS framework.
The mathematical model of this example was inserted.
A fault in the gyroscope x-axis was simulated: at t=50s the gyro reading freezes.</p>
<p>A bag file was captured and the measured timeseries were extracted as ‘’.csv’’ files, in order to parse them in MATLAB.
The data was resampled and aligned, in order to pass them to the residual generator bank.</p>
<p>The bank of residual generators can process the datalog offline or online:</p>
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