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calibrate_gyro.py
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calibrate_gyro.py
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#! /usr/bin/env python
# Copyright (C) 2010 Antoine Drouin
#
# This file is part of Paparazzi.
#
# Paparazzi is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 2, or (at your option)
# any later version.
#
# Paparazzi is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with Paparazzi; see the file COPYING. If not, write to
# the Free Software Foundation, 59 Temple Place - Suite 330,
# Boston, MA 02111-1307, USA.
#
#
# calibrate gyrometers using turntable measurements
#
from __future__ import print_function, division
from optparse import OptionParser
import os
import sys
from scipy import linspace, polyval, stats
import matplotlib.pyplot as plt
import calibration_utils
#
# lisa 3
# p : a=-4511.16 b=31948.34, std error= 0.603
# q : a=-4598.46 b=31834.48, std error= 0.734
# r : a=-4525.63 b=32687.95, std error= 0.624
#
# lisa 4
# p : a=-4492.05 b=32684.94, std error= 0.600
# q : a=-4369.63 b=33260.96, std error= 0.710
# r : a=-4577.13 b=32707.72, std error= 0.730
#
# crista
# p : a= 3864.82 b=31288.09, std error= 0.866
# q : a= 3793.71 b=32593.89, std error= 3.070
# r : a= 3817.11 b=32709.70, std error= 3.296
#
def main():
usage = "usage: %prog --id <ac_id> --tt_id <tt_id> --axis <axis> [options] log_filename.data" + "\n" + "Run %prog --help to list the options."
parser = OptionParser(usage)
parser.add_option("-i", "--id", dest="ac_id",
action="store", type=int, default=-1,
help="aircraft id to use")
parser.add_option("-t", "--tt_id", dest="tt_id",
action="store", type=int, default=-1,
help="turntable id to use")
parser.add_option("-a", "--axis", dest="axis",
type="choice", choices=['p', 'q', 'r'],
help="axis to calibrate (p, q, r)",
action="store")
parser.add_option("-v", "--verbose",
action="store_true", dest="verbose")
(options, args) = parser.parse_args()
if len(args) != 1:
parser.error("incorrect number of arguments")
else:
if os.path.isfile(args[0]):
filename = args[0]
else:
print(args[0] + " not found")
sys.exit(1)
if not filename.endswith(".data"):
parser.error("Please specify a *.data log file")
if options.ac_id < 0 or options.ac_id > 255:
parser.error("Specify a valid aircraft id number!")
if options.tt_id < 0 or options.tt_id > 255:
parser.error("Specify a valid turntable id number!")
if options.verbose:
print("reading file "+filename+" for aircraft "+str(options.ac_id)+" and turntable "+str(options.tt_id))
samples = calibration_utils.read_turntable_log(options.ac_id, options.tt_id, filename, 1, 7)
if len(samples) == 0:
print("Error: found zero matching messages in log file!")
print("Was looking for IMU_TURNTABLE from id: "+str(options.tt_id)+" and IMU_GYRO_RAW from id: "+str(options.ac_id)+" in file "+filename)
sys.exit(1)
if options.verbose:
print("found "+str(len(samples))+" records")
if options.axis == 'p':
axis_idx = 1
elif options.axis == 'q':
axis_idx = 2
elif options.axis == 'r':
axis_idx = 3
else:
parser.error("Specify a valid axis!")
#Linear regression using stats.linregress
t = samples[:, 0]
xn = samples[:, axis_idx]
(a_s, b_s, r, tt, stderr) = stats.linregress(t, xn)
print('Linear regression using stats.linregress')
print(('regression: a=%.2f b=%.2f, std error= %.3f' % (a_s, b_s, stderr)))
print(('<define name="GYRO_X_NEUTRAL" value="%d"/>' % (b_s)))
print(('<define name="GYRO_X_SENS" value="%f" integer="16"/>' % (pow(2, 12)/a_s)))
#
# overlay fited value
#
ovl_omega = linspace(1, 7.5, 10)
ovl_adc = polyval([a_s, b_s], ovl_omega)
plt.title('Linear Regression Example')
plt.subplot(3, 1, 1)
plt.plot(samples[:, 1])
plt.plot(samples[:, 2])
plt.plot(samples[:, 3])
plt.legend(['p', 'q', 'r'])
plt.subplot(3, 1, 2)
plt.plot(samples[:, 0])
plt.subplot(3, 1, 3)
plt.plot(samples[:, 0], samples[:, axis_idx], 'b.')
plt.plot(ovl_omega, ovl_adc, 'r')
plt.show()
if __name__ == "__main__":
main()