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Tools: cope with offset from cal temp to reference temp

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Andrew Tridgell 2021-01-18 18:44:51 +11:00 committed by Peter Barker
parent 2359a5a1ea
commit 5a180fa7a8
1 changed files with 63 additions and 9 deletions
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72
Tools/scripts/tempcal_IMU.py
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@ -49,6 +49,8 @@ class Coefficients:
self.tmax = [-100]*3
self.gtcal = {}
self.atcal = {}
self.gofs = {}
self.aofs = {}
def set_accel_poly(self, imu, axis, values):
if not imu in self.acoef:
@ -78,6 +80,16 @@ class Coefficients:
self.gcoef[imu][axis] = [0]*4
self.gcoef[imu][axis][POLY_ORDER-order] = value
def set_aoffset(self, imu, axis, value):
if not imu in self.aofs:
self.aofs[imu] = {}
self.aofs[imu][axis] = value
def set_goffset(self, imu, axis, value):
if not imu in self.gofs:
self.gofs[imu] = {}
self.gofs[imu][axis] = value
def set_tmin(self, imu, tmin):
self.tmin[imu] = tmin
@ -230,6 +242,31 @@ class IMUData:
self.accel[imu] = self.FilterArray(self.accel[imu], width_s)
self.gyro[imu] = self.FilterArray(self.gyro[imu], width_s)
def accel_at_temp(self, imu, axis, temperature):
'''return the accel value closest to the given temperature'''
if temperature < self.accel[imu]['T'][0]:
return self.accel[imu][axis][0]
for i in range(len(self.accel[imu]['T'])-1):
if temperature >= self.accel[imu]['T'][i] and temperature <= self.accel[imu]['T'][i+1]:
v1 = self.accel[imu][axis][i]
v2 = self.accel[imu][axis][i+1]
p = (temperature - self.accel[imu]['T'][i]) / (self.accel[imu]['T'][i+1]-self.accel[imu]['T'][i])
return v1 + (v2-v1) * p
return self.accel[imu][axis][-1]
def gyro_at_temp(self, imu, axis, temperature):
'''return the gyro value closest to the given temperature'''
if temperature < self.gyro[imu]['T'][0]:
return self.gyro[imu][axis][0]
for i in range(len(self.gyro[imu]['T'])-1):
if temperature >= self.gyro[imu]['T'][i] and temperature <= self.gyro[imu]['T'][i+1]:
v1 = self.gyro[imu][axis][i]
v2 = self.gyro[imu][axis][i+1]
p = (temperature - self.gyro[imu]['T'][i]) / (self.gyro[imu]['T'][i+1]-self.gyro[imu]['T'][i])
return v1 + (v2-v1) * p
return self.gyro[imu][axis][-1]
def constrain(value, minv, maxv):
"""Constrain a value to a range."""
if value < minv:
@ -313,6 +350,20 @@ def IMUfit(logfile):
if stop_capture[imu]:
continue
c.set_accel_tcal(imu, msg.Value)
m = re.match("^INS_([AG]..)(\d?)OFFS_([XYZ])$", msg.Name)
if m:
stype = m.group(1)
if m.group(2) == "":
imu = 0
else:
imu = int(m.group(2))-1
axis = m.group(3)
if stop_capture[imu]:
continue
if stype == 'ACC':
c.set_aoffset(imu, axis, msg.Value)
if stype == 'GYR':
c.set_goffset(imu, axis, msg.Value)
if msg.Name == 'AHRS_ORIENTATION':
orientation = int(msg.Value)
print("Using orientation %d" % orientation)
@ -384,12 +435,14 @@ def IMUfit(logfile):
if args.online:
fit = OnlineIMUfit()
trel = data.accel[imu]['T'] - TEMP_REF
c.set_accel_poly(imu, axis, fit.polyfit(trel, data.accel[imu][axis] - np.median(data.accel[imu][axis]), POLY_ORDER))
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
c.set_accel_poly(imu, axis, fit.polyfit(trel, data.accel[imu][axis] - ofs, POLY_ORDER))
trel = data.gyro[imu]['T'] - TEMP_REF
c.set_gyro_poly(imu, axis, fit.polyfit(trel, data.gyro[imu][axis], POLY_ORDER))
else:
trel = data.accel[imu]['T'] - TEMP_REF
c.set_accel_poly(imu, axis, np.polyfit(trel, data.accel[imu][axis] - np.median(data.accel[imu][axis]), POLY_ORDER))
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
c.set_accel_poly(imu, axis, np.polyfit(trel, data.accel[imu][axis] - ofs, POLY_ORDER))
trel = data.gyro[imu]['T'] - TEMP_REF
c.set_gyro_poly(imu, axis, np.polyfit(trel, data.gyro[imu][axis], POLY_ORDER))
@ -423,7 +476,7 @@ def IMUfit(logfile):
print("IMU[%u] disabled in log parms" % imu)
continue
poly = np.poly1d(clog.gcoef[imu][axis])
correction = poly(data.gyro[imu]['T'] - TEMP_REF)
correction = poly(data.gyro[imu]['T'] - TEMP_REF) - poly(clog.gtcal[imu] - TEMP_REF) + clog.gofs[imu][axis]
axs[imu].plot(data.gyro[imu]['time'], (data.gyro[imu][axis] - correction)*scale, label='Corrected %s (log parm)' % axis)
ax2 = axs[imu].twinx()
ax2.plot(data.gyro[imu]['time'], data.gyro[imu]['T'], label='Temperature(C)', color='black')
@ -436,23 +489,24 @@ def IMUfit(logfile):
axs = [axs]
for imu in data.IMUs():
mean = {}
for axis in AXES:
mean[axis] = np.mean(data.accel[imu][axis])
axs[imu].plot(data.accel[imu]['time'], data.accel[imu][axis] - mean[axis], label='Uncorrected %s' % axis)
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
axs[imu].plot(data.accel[imu]['time'], data.accel[imu][axis] - ofs, label='Uncorrected %s' % axis)
for axis in AXES:
poly = np.poly1d(c.acoef[imu][axis])
trel = data.accel[imu]['T'] - TEMP_REF
correction = poly(trel)
axs[imu].plot(data.accel[imu]['time'], (data.accel[imu][axis]-mean[axis]) - correction, label='Corrected %s' % axis)
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
axs[imu].plot(data.accel[imu]['time'], (data.accel[imu][axis] - ofs) - correction, label='Corrected %s' % axis)
if args.log_parm:
for axis in AXES:
if clog.enable[imu] == 0.0:
print("IMU[%u] disabled in log parms" % imu)
continue
poly = np.poly1d(clog.acoef[imu][axis])
correction = poly(data.accel[imu]['T'] - TEMP_REF)
axs[imu].plot(data.accel[imu]['time'], (data.accel[imu][axis]-mean[axis]) - correction, label='Corrected %s (log parm)' % axis)
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
correction = poly(data.accel[imu]['T'] - TEMP_REF) - poly(clog.atcal[imu] - TEMP_REF)
axs[imu].plot(data.accel[imu]['time'], (data.accel[imu][axis] - ofs) - correction, label='Corrected %s (log parm)' % axis)
ax2 = axs[imu].twinx()
ax2.plot(data.accel[imu]['time'], data.accel[imu]['T'], label='Temperature(C)', color='black')
ax2.legend(loc='upper right')