From 7fd77fedaab346537d5dfecd659e801226938895 Mon Sep 17 00:00:00 2001 From: baumanta Date: Tue, 24 Mar 2020 09:56:53 +0100 Subject: [PATCH] add python script for offline param identification --- .../python/mag_compensation.py | 295 ++++++++++++++++++ 1 file changed, 295 insertions(+) create mode 100644 src/lib/mag_compensation/python/mag_compensation.py diff --git a/src/lib/mag_compensation/python/mag_compensation.py b/src/lib/mag_compensation/python/mag_compensation.py new file mode 100644 index 0000000000..c1f38ae4e6 --- /dev/null +++ b/src/lib/mag_compensation/python/mag_compensation.py @@ -0,0 +1,295 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +""" +File: mag_compensation.py +Author: Tanja Baumann +Email: tanja@auterion.com +Github: https://github.com/baumanta +Description: + Computes linear coefficients for mag compensation from thrust and current +Usage: + python mag_compensation.py /path/to/log/logfile.ulg + +Remark: + If your logfile does not contain some of the topics, e.g.battery_status/current_a + you will have to comment out the corresponding parts in the script +""" + + +import matplotlib.pylab as plt +from mpl_toolkits.mplot3d import Axes3D +from pyulog import ULog +from pyulog.px4 import PX4ULog +from pylab import * +import numpy as np +import textwrap as tw + +#arguments +arguments = len(sys.argv) - 1 +if(arguments < 1): + print "Give logfile name as argument" +else: + log_name = sys.argv[1] + + +#Load the log data (produced by pyulog) +log = ULog(log_name) +pxlog = PX4ULog(log); + +def get_data(topic_name, variable_name, index): + try: + dataset = log.get_dataset(topic_name, index) + return dataset.data[variable_name] + except: + return[] + +def ms2s_list(time_ms_list): + if(len(time_ms_list) > 0): + return 1e-6 * time_ms_list + else: + return time_ms_list + +# Select msgs and copy into arrays +armed = get_data('vehicle_status', 'arming_state', 0) +t_armed = ms2s_list(get_data('vehicle_status', 'timestamp', 0)) + +thrust_z = get_data('vehicle_rates_setpoint', 'thrust_body[2]', 0) +t_thrust = ms2s_list(get_data('vehicle_rates_setpoint', 'timestamp', 0)) + +current = get_data('battery_status', 'current_a', 0) +current = np.true_divide(current, 1000) #kA +t_current = ms2s_list(get_data('battery_status', 'timestamp', 0)) + +mag0X_body = get_data('sensor_mag', 'x', 0) +mag0Y_body = get_data('sensor_mag', 'y', 0) +mag0Z_body = get_data('sensor_mag', 'z', 0) +t_mag0 = ms2s_list(get_data('sensor_mag', 'timestamp', 0)) +mag0_ID = get_data('sensor_mag', 'device_id', 0) + +mag1X_body = get_data('sensor_mag', 'x', 1) +mag1Y_body = get_data('sensor_mag', 'y', 1) +mag1Z_body = get_data('sensor_mag', 'z', 1) +t_mag1 = ms2s_list(get_data('sensor_mag', 'timestamp', 1)) +mag1_ID = get_data('sensor_mag', 'device_id', 1) + +mag2X_body = get_data('sensor_mag', 'x', 2) +mag2Y_body = get_data('sensor_mag', 'y', 2) +mag2Z_body = get_data('sensor_mag', 'z', 2) +t_mag2 = ms2s_list(get_data('sensor_mag', 'timestamp', 2)) +mag2_ID = get_data('sensor_mag', 'device_id', 2) + +mag3X_body = get_data('sensor_mag', 'x', 3) +mag3Y_body = get_data('sensor_mag', 'y', 3) +mag3Z_body = get_data('sensor_mag', 'z', 3) +t_mag3 = ms2s_list(get_data('sensor_mag', 'timestamp', 3)) +mag3_ID = get_data('sensor_mag', 'device_id', 3) + +magX_body = [] +magY_body = [] +magZ_body = [] +mag_id = [] +t_mag = [] + +if len(mag0X_body) > 0: + magX_body.append(mag0X_body) + magY_body.append(mag0Y_body) + magZ_body.append(mag0Z_body) + t_mag.append(t_mag0) + mag_id.append(mag0_ID[0]) + +if len(mag1X_body) > 0: + magX_body.append(mag1X_body) + magY_body.append(mag1Y_body) + magZ_body.append(mag1Z_body) + t_mag.append(t_mag1) + mag_id.append(mag1_ID[0]) + +if len(mag2X_body) > 0: + magX_body.append(mag2X_body) + magY_body.append(mag2Y_body) + magZ_body.append(mag2Z_body) + t_mag.append(t_mag2) + mag_id.append(mag2_ID[0]) + +if len(mag3X_body) > 0: + magX_body.append(mag3X_body) + magY_body.append(mag3Y_body) + magZ_body.append(mag3Z_body) + t_mag.append(t_mag3) + mag_id.append(mag3_ID[0]) + +n_mag = len(magX_body) + +#log index does not necessarily match mag calibration instance number +calibration_instance = [] +instance_found = False +for idx in range(n_mag): + instance_found = False + for j in range(4): + if mag_id[idx] == log.initial_parameters["CAL_MAG{}_ID".format(j)]: + calibration_instance.append(j) + instance_found = True + if not instance_found: + print('Mag {} calibration instance not found, run compass calibration first.'.format(mag_id[idx])) + +#get first arming sequence from data +start_time = 0 +stop_time = 0 +for i in range(len(armed)-1): + if armed[i] == 1 and armed[i+1] == 2: + start_time = t_armed[i+1] + if armed[i] == 2 and armed[i+1] == 1: + stop_time = t_armed[i+1] + break + +#cut unarmed sequences from mag data +index_start = 0 +index_stop = 0 + +for idx in range(n_mag): + for i in range(len(t_mag[idx])): + if t_mag[idx][i] > start_time: + index_start = i + break + + for i in range(len(t_mag[idx])): + if t_mag[idx][i] > stop_time: + index_stop = i -1 + break + + t_mag[idx] = t_mag[idx][index_start:index_stop] + magX_body[idx] = magX_body[idx][index_start:index_stop] + magY_body[idx] = magY_body[idx][index_start:index_stop] + magZ_body[idx] = magZ_body[idx][index_start:index_stop] + + +#resample data +thrust_resampled = [] +current_resampled = [] + +for idx in range(n_mag): + thrust_resampled.append(interp(t_mag[idx], t_thrust, thrust_z)) + current_resampled.append(np.interp(t_mag[idx], t_current, current)) + +#fit linear to get coefficients +px_th = [] +py_th = [] +pz_th = [] + +px_curr = [] +py_curr = [] +pz_curr = [] + +for idx in range(n_mag): + px_th_temp, res_x_th, _, _, _ = polyfit(thrust_resampled[idx], magX_body[idx], 1,full = True) + py_th_temp, res_y_th, _, _, _ = polyfit(thrust_resampled[idx], magY_body[idx], 1,full = True) + pz_th_temp, res_z_th, _, _, _ = polyfit(thrust_resampled[idx], magZ_body[idx], 1, full = True) + + px_curr_temp, res_x_curr, _, _, _ = polyfit(current_resampled[idx], magX_body[idx], 1,full = True) + py_curr_temp, res_y_curr, _, _, _ = polyfit(current_resampled[idx], magY_body[idx], 1,full = True) + pz_curr_temp, res_z_curr, _, _, _ = polyfit(current_resampled[idx], magZ_body[idx], 1, full = True) + + px_th.append(px_th_temp) + py_th.append(py_th_temp) + pz_th.append(pz_th_temp) + px_curr.append(px_curr_temp) + py_curr.append(py_curr_temp) + pz_curr.append(pz_curr_temp) + +#print to console +for idx in range(n_mag): + print('Mag{} device ID {} (calibration instance {})'.format(idx, mag_id[idx], calibration_instance[idx])) +print('\033[91m \nthrust-based compensation: \033[0m') +print('\nparam set CAL_MAG_COMP_TYP 1') +for idx in range(n_mag): + print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], px_th[idx][0])) + print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], py_th[idx][0])) + print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], pz_th[idx][0])) + +print('\n\033[91mcurrent-based compensation: \033[0m') +print('\nparam set CAL_MAG_COMP_TYP 2') +for idx in range(n_mag): + print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], -px_curr[idx][0])) + print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], -py_curr[idx][0])) + print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], -pz_curr[idx][0])) + +#plot data + +for idx in range(n_mag): + fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k') + fig.suptitle('Thrust and Current Compensation Parameter Fit \n{} \nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold') + + + plt.subplot(2,3,1) + plt.plot(current_resampled[idx], magX_body[idx], 'yo', current_resampled[idx], px_curr[idx][0]*current_resampled[idx]+px_curr[idx][1], '--k') + plt.xlabel('current [kA]') + plt.ylabel('mag X [G]') + + plt.subplot(2,3,2) + plt.plot(current_resampled[idx], magY_body[idx], 'yo', current_resampled[idx], py_curr[idx][0]*current_resampled[idx]+py_curr[idx][1], '--k') + plt.xlabel('current [kA]') + plt.ylabel('mag Y [G]') + + + plt.subplot(2,3,3) + plt.plot(current_resampled[idx], magZ_body[idx], 'yo', current_resampled[idx], pz_curr[idx][0]*current_resampled[idx]+pz_curr[idx][1], '--k') + plt.xlabel('current [kA]') + plt.ylabel('mag Z [G]') + + + plt.subplot(2,3,4) + plt.plot(thrust_resampled[idx], magX_body[idx], 'yo', thrust_resampled[idx], px_th[idx][0]*thrust_resampled[idx]+px_th[idx][1], '--k') + plt.xlabel('thrust []') + plt.ylabel('mag X [G]') + + plt.subplot(2,3,5) + plt.plot(thrust_resampled[idx], magY_body[idx], 'yo', thrust_resampled[idx], py_th[idx][0]*thrust_resampled[idx]+py_th[idx][1], '--k') + plt.xlabel('thrust []') + plt.ylabel('mag Y [G]') + + + plt.subplot(2,3,6) + plt.plot(thrust_resampled[idx], magZ_body[idx], 'yo', thrust_resampled[idx], pz_th[idx][0]*thrust_resampled[idx]+pz_th[idx][1], '--k') + plt.xlabel('thrust []') + plt.ylabel('mag Z [G]') + + # display results + plt.figtext(0.24, 0.03, 'Thrust CAL_MAG{}_XCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_XCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],px_th[idx][0],calibration_instance[idx],-px_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold') + + plt.figtext(0.51, 0.03, 'Thrust CAL_MAG{}_YCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_YCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],py_th[idx][0],calibration_instance[idx], -py_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold') + + plt.figtext(0.79, 0.03, ' Thrust CAL_MAG{}_ZCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_ZCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],pz_th[idx][0], calibration_instance[idx],-pz_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold') + + +#compensation comparison plots +for idx in range(n_mag): + fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k') + fig.suptitle('Thrust vs. Current Compensation \n{}\nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold') + + plt.subplot(3,1,1) + original_x, = plt.plot(t_mag[idx], magX_body[idx], label='original') + current_x, = plt.plot(t_mag[idx],magX_body[idx] - px_curr[idx][0] * current_resampled[idx], label='current compensated') + thrust_x, = plt.plot(t_mag[idx],magX_body[idx] - px_th[idx][0] * thrust_resampled[idx], label='thrust compensated') + plt.legend(handles=[original_x, current_x, thrust_x]) + plt.xlabel('Time [s]') + plt.ylabel('Max X corrected[G]') + + + plt.subplot(3,1,2) + original_y, = plt.plot(t_mag[idx], magY_body[idx], label='original') + current_y, = plt.plot(t_mag[idx],magY_body[idx] - py_curr[idx][0] * current_resampled[idx], label='current compensated') + thrust_y, = plt.plot(t_mag[idx],magY_body[idx] - py_th[idx][0] * thrust_resampled[idx], label='thrust compensated') + plt.legend(handles=[original_y, current_y, thrust_y]) + plt.xlabel('Time [s]') + plt.ylabel('Max Y corrected[G]') + + plt.subplot(3,1,3) + original_z, = plt.plot(t_mag[idx], magZ_body[idx], label='original') + current_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_curr[idx][0] * current_resampled[idx], label='current compensated') + thrust_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_th[idx][0] * thrust_resampled[idx], label='thrust compensated') + plt.legend(handles=[original_z, current_z, thrust_z]) + plt.xlabel('Time [s]') + plt.ylabel('Max Z corrected[G]') + +plt.show() \ No newline at end of file