baumanta
5 years ago
committed by
Beat Küng
1 changed files with 295 additions and 0 deletions
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#!/usr/bin/env python |
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# -*- coding: utf-8 -*- |
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""" |
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File: mag_compensation.py |
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Author: Tanja Baumann |
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Email: tanja@auterion.com |
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Github: https://github.com/baumanta |
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Description: |
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Computes linear coefficients for mag compensation from thrust and current |
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Usage: |
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python mag_compensation.py /path/to/log/logfile.ulg |
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Remark: |
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If your logfile does not contain some of the topics, e.g.battery_status/current_a |
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you will have to comment out the corresponding parts in the script |
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""" |
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import matplotlib.pylab as plt |
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from mpl_toolkits.mplot3d import Axes3D |
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from pyulog import ULog |
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from pyulog.px4 import PX4ULog |
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from pylab import * |
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import numpy as np |
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import textwrap as tw |
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#arguments |
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arguments = len(sys.argv) - 1 |
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if(arguments < 1): |
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print "Give logfile name as argument" |
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else: |
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log_name = sys.argv[1] |
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#Load the log data (produced by pyulog) |
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log = ULog(log_name) |
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pxlog = PX4ULog(log); |
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def get_data(topic_name, variable_name, index): |
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try: |
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dataset = log.get_dataset(topic_name, index) |
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return dataset.data[variable_name] |
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except: |
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return[] |
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def ms2s_list(time_ms_list): |
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if(len(time_ms_list) > 0): |
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return 1e-6 * time_ms_list |
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else: |
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return time_ms_list |
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# Select msgs and copy into arrays |
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armed = get_data('vehicle_status', 'arming_state', 0) |
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t_armed = ms2s_list(get_data('vehicle_status', 'timestamp', 0)) |
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thrust_z = get_data('vehicle_rates_setpoint', 'thrust_body[2]', 0) |
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t_thrust = ms2s_list(get_data('vehicle_rates_setpoint', 'timestamp', 0)) |
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current = get_data('battery_status', 'current_a', 0) |
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current = np.true_divide(current, 1000) #kA |
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t_current = ms2s_list(get_data('battery_status', 'timestamp', 0)) |
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mag0X_body = get_data('sensor_mag', 'x', 0) |
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mag0Y_body = get_data('sensor_mag', 'y', 0) |
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mag0Z_body = get_data('sensor_mag', 'z', 0) |
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t_mag0 = ms2s_list(get_data('sensor_mag', 'timestamp', 0)) |
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mag0_ID = get_data('sensor_mag', 'device_id', 0) |
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mag1X_body = get_data('sensor_mag', 'x', 1) |
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mag1Y_body = get_data('sensor_mag', 'y', 1) |
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mag1Z_body = get_data('sensor_mag', 'z', 1) |
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t_mag1 = ms2s_list(get_data('sensor_mag', 'timestamp', 1)) |
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mag1_ID = get_data('sensor_mag', 'device_id', 1) |
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mag2X_body = get_data('sensor_mag', 'x', 2) |
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mag2Y_body = get_data('sensor_mag', 'y', 2) |
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mag2Z_body = get_data('sensor_mag', 'z', 2) |
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t_mag2 = ms2s_list(get_data('sensor_mag', 'timestamp', 2)) |
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mag2_ID = get_data('sensor_mag', 'device_id', 2) |
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mag3X_body = get_data('sensor_mag', 'x', 3) |
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mag3Y_body = get_data('sensor_mag', 'y', 3) |
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mag3Z_body = get_data('sensor_mag', 'z', 3) |
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t_mag3 = ms2s_list(get_data('sensor_mag', 'timestamp', 3)) |
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mag3_ID = get_data('sensor_mag', 'device_id', 3) |
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magX_body = [] |
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magY_body = [] |
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magZ_body = [] |
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mag_id = [] |
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t_mag = [] |
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if len(mag0X_body) > 0: |
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magX_body.append(mag0X_body) |
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magY_body.append(mag0Y_body) |
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magZ_body.append(mag0Z_body) |
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t_mag.append(t_mag0) |
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mag_id.append(mag0_ID[0]) |
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if len(mag1X_body) > 0: |
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magX_body.append(mag1X_body) |
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magY_body.append(mag1Y_body) |
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magZ_body.append(mag1Z_body) |
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t_mag.append(t_mag1) |
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mag_id.append(mag1_ID[0]) |
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if len(mag2X_body) > 0: |
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magX_body.append(mag2X_body) |
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magY_body.append(mag2Y_body) |
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magZ_body.append(mag2Z_body) |
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t_mag.append(t_mag2) |
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mag_id.append(mag2_ID[0]) |
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if len(mag3X_body) > 0: |
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magX_body.append(mag3X_body) |
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magY_body.append(mag3Y_body) |
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magZ_body.append(mag3Z_body) |
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t_mag.append(t_mag3) |
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mag_id.append(mag3_ID[0]) |
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n_mag = len(magX_body) |
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#log index does not necessarily match mag calibration instance number |
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calibration_instance = [] |
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instance_found = False |
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for idx in range(n_mag): |
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instance_found = False |
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for j in range(4): |
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if mag_id[idx] == log.initial_parameters["CAL_MAG{}_ID".format(j)]: |
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calibration_instance.append(j) |
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instance_found = True |
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if not instance_found: |
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print('Mag {} calibration instance not found, run compass calibration first.'.format(mag_id[idx])) |
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#get first arming sequence from data |
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start_time = 0 |
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stop_time = 0 |
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for i in range(len(armed)-1): |
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if armed[i] == 1 and armed[i+1] == 2: |
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start_time = t_armed[i+1] |
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if armed[i] == 2 and armed[i+1] == 1: |
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stop_time = t_armed[i+1] |
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break |
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#cut unarmed sequences from mag data |
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index_start = 0 |
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index_stop = 0 |
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for idx in range(n_mag): |
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for i in range(len(t_mag[idx])): |
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if t_mag[idx][i] > start_time: |
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index_start = i |
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break |
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for i in range(len(t_mag[idx])): |
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if t_mag[idx][i] > stop_time: |
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index_stop = i -1 |
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break |
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t_mag[idx] = t_mag[idx][index_start:index_stop] |
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magX_body[idx] = magX_body[idx][index_start:index_stop] |
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magY_body[idx] = magY_body[idx][index_start:index_stop] |
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magZ_body[idx] = magZ_body[idx][index_start:index_stop] |
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#resample data |
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thrust_resampled = [] |
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current_resampled = [] |
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for idx in range(n_mag): |
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thrust_resampled.append(interp(t_mag[idx], t_thrust, thrust_z)) |
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current_resampled.append(np.interp(t_mag[idx], t_current, current)) |
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#fit linear to get coefficients |
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px_th = [] |
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py_th = [] |
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pz_th = [] |
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px_curr = [] |
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py_curr = [] |
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pz_curr = [] |
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for idx in range(n_mag): |
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px_th_temp, res_x_th, _, _, _ = polyfit(thrust_resampled[idx], magX_body[idx], 1,full = True) |
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py_th_temp, res_y_th, _, _, _ = polyfit(thrust_resampled[idx], magY_body[idx], 1,full = True) |
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pz_th_temp, res_z_th, _, _, _ = polyfit(thrust_resampled[idx], magZ_body[idx], 1, full = True) |
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px_curr_temp, res_x_curr, _, _, _ = polyfit(current_resampled[idx], magX_body[idx], 1,full = True) |
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py_curr_temp, res_y_curr, _, _, _ = polyfit(current_resampled[idx], magY_body[idx], 1,full = True) |
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pz_curr_temp, res_z_curr, _, _, _ = polyfit(current_resampled[idx], magZ_body[idx], 1, full = True) |
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px_th.append(px_th_temp) |
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py_th.append(py_th_temp) |
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pz_th.append(pz_th_temp) |
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px_curr.append(px_curr_temp) |
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py_curr.append(py_curr_temp) |
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pz_curr.append(pz_curr_temp) |
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#print to console |
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for idx in range(n_mag): |
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print('Mag{} device ID {} (calibration instance {})'.format(idx, mag_id[idx], calibration_instance[idx])) |
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print('\033[91m \nthrust-based compensation: \033[0m') |
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print('\nparam set CAL_MAG_COMP_TYP 1') |
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for idx in range(n_mag): |
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print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], px_th[idx][0])) |
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print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], py_th[idx][0])) |
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print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], pz_th[idx][0])) |
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print('\n\033[91mcurrent-based compensation: \033[0m') |
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print('\nparam set CAL_MAG_COMP_TYP 2') |
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for idx in range(n_mag): |
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print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], -px_curr[idx][0])) |
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print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], -py_curr[idx][0])) |
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print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], -pz_curr[idx][0])) |
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#plot data |
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for idx in range(n_mag): |
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fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k') |
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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') |
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plt.subplot(2,3,1) |
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plt.plot(current_resampled[idx], magX_body[idx], 'yo', current_resampled[idx], px_curr[idx][0]*current_resampled[idx]+px_curr[idx][1], '--k') |
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plt.xlabel('current [kA]') |
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plt.ylabel('mag X [G]') |
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plt.subplot(2,3,2) |
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plt.plot(current_resampled[idx], magY_body[idx], 'yo', current_resampled[idx], py_curr[idx][0]*current_resampled[idx]+py_curr[idx][1], '--k') |
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plt.xlabel('current [kA]') |
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plt.ylabel('mag Y [G]') |
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plt.subplot(2,3,3) |
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plt.plot(current_resampled[idx], magZ_body[idx], 'yo', current_resampled[idx], pz_curr[idx][0]*current_resampled[idx]+pz_curr[idx][1], '--k') |
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plt.xlabel('current [kA]') |
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plt.ylabel('mag Z [G]') |
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plt.subplot(2,3,4) |
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plt.plot(thrust_resampled[idx], magX_body[idx], 'yo', thrust_resampled[idx], px_th[idx][0]*thrust_resampled[idx]+px_th[idx][1], '--k') |
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plt.xlabel('thrust []') |
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plt.ylabel('mag X [G]') |
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plt.subplot(2,3,5) |
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plt.plot(thrust_resampled[idx], magY_body[idx], 'yo', thrust_resampled[idx], py_th[idx][0]*thrust_resampled[idx]+py_th[idx][1], '--k') |
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plt.xlabel('thrust []') |
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plt.ylabel('mag Y [G]') |
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plt.subplot(2,3,6) |
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plt.plot(thrust_resampled[idx], magZ_body[idx], 'yo', thrust_resampled[idx], pz_th[idx][0]*thrust_resampled[idx]+pz_th[idx][1], '--k') |
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plt.xlabel('thrust []') |
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plt.ylabel('mag Z [G]') |
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# display results |
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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') |
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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') |
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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') |
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#compensation comparison plots |
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for idx in range(n_mag): |
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fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k') |
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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') |
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plt.subplot(3,1,1) |
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original_x, = plt.plot(t_mag[idx], magX_body[idx], label='original') |
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current_x, = plt.plot(t_mag[idx],magX_body[idx] - px_curr[idx][0] * current_resampled[idx], label='current compensated') |
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thrust_x, = plt.plot(t_mag[idx],magX_body[idx] - px_th[idx][0] * thrust_resampled[idx], label='thrust compensated') |
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plt.legend(handles=[original_x, current_x, thrust_x]) |
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plt.xlabel('Time [s]') |
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plt.ylabel('Max X corrected[G]') |
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plt.subplot(3,1,2) |
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original_y, = plt.plot(t_mag[idx], magY_body[idx], label='original') |
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current_y, = plt.plot(t_mag[idx],magY_body[idx] - py_curr[idx][0] * current_resampled[idx], label='current compensated') |
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thrust_y, = plt.plot(t_mag[idx],magY_body[idx] - py_th[idx][0] * thrust_resampled[idx], label='thrust compensated') |
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plt.legend(handles=[original_y, current_y, thrust_y]) |
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plt.xlabel('Time [s]') |
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plt.ylabel('Max Y corrected[G]') |
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plt.subplot(3,1,3) |
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original_z, = plt.plot(t_mag[idx], magZ_body[idx], label='original') |
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current_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_curr[idx][0] * current_resampled[idx], label='current compensated') |
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thrust_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_th[idx][0] * thrust_resampled[idx], label='thrust compensated') |
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plt.legend(handles=[original_z, current_z, thrust_z]) |
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plt.xlabel('Time [s]') |
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plt.ylabel('Max Z corrected[G]') |
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plt.show() |
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