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Tools: allow tempcal_IMU.py to run without existing tcal params

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this makes it possible to run the tcal script on a log from a board
that doesn't have any existing temperature calibration params
This commit is contained in:
Andrew Tridgell 2021-01-22 06:14:05 +11:00
parent 6163659887
commit bb278a1cc7
1 changed files with 8 additions and 5 deletions
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13
Tools/scripts/tempcal_IMU.py
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@ -117,7 +117,7 @@ class Coefficients:
def correction_accel(self, imu, temperature):
'''calculate accel correction from temperature calibration from
log data using parameters'''
cal_temp = self.atcal[imu]
cal_temp = self.atcal.get(imu, TEMP_REF)
return Vector3(self.correction(self.acoef[imu], imu, temperature, 'X', cal_temp),
self.correction(self.acoef[imu], imu, temperature, 'Y', cal_temp),
self.correction(self.acoef[imu], imu, temperature, 'Z', cal_temp))
@ -126,7 +126,7 @@ class Coefficients:
def correction_gyro(self, imu, temperature):
'''calculate gyro correction from temperature calibration from
log data using parameters'''
cal_temp = self.gtcal[imu]
cal_temp = self.gtcal.get(imu, TEMP_REF)
return Vector3(self.correction(self.gcoef[imu], imu, temperature, 'X', cal_temp),
self.correction(self.gcoef[imu], imu, temperature, 'Y', cal_temp),
self.correction(self.gcoef[imu], imu, temperature, 'Z', cal_temp))
@ -439,7 +439,10 @@ def IMUfit(logfile):
c.set_gyro_poly(imu, axis, fit.polyfit(trel, data.gyro[imu][axis], POLY_ORDER))
else:
trel = data.accel[imu]['T'] - TEMP_REF
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
if imu in clog.atcal:
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
else:
ofs = np.mean(data.accel[imu][axis])
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))
@ -488,13 +491,13 @@ def IMUfit(logfile):
for imu in data.IMUs():
for axis in AXES:
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
ofs = data.accel_at_temp(imu, axis, clog.atcal.get(imu, TEMP_REF))
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)
ofs = data.accel_at_temp(imu, axis, clog.atcal[imu])
ofs = data.accel_at_temp(imu, axis, clog.atcal.get(imu, TEMP_REF))
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: