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145 lines
4.7 KiB
145 lines
4.7 KiB
#!/usr/bin/env python |
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''' |
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fit best estimate of magnetometer offsets using the algorithm from |
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Bill Premerlani |
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''' |
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import sys, time, os, math |
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# allow import from the parent directory, where mavlink.py is |
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) |
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# command line option handling |
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from optparse import OptionParser |
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parser = OptionParser("magfit_delta.py [options]") |
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parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps") |
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parser.add_option("--condition",dest="condition", default=None, help="select packets by condition") |
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0") |
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parser.add_option("--verbose", action='store_true', default=False, help="verbose offset output") |
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parser.add_option("--gain", type='float', default=0.01, help="algorithm gain") |
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parser.add_option("--noise", type='float', default=0, help="noise to add") |
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parser.add_option("--max-change", type='float', default=10, help="max step change") |
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parser.add_option("--min-diff", type='float', default=50, help="min mag vector delta") |
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parser.add_option("--history", type='int', default=20, help="how many points to keep") |
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parser.add_option("--repeat", type='int', default=1, help="number of repeats through the data") |
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(opts, args) = parser.parse_args() |
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if opts.mav10: |
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os.environ['MAVLINK10'] = '1' |
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import mavutil |
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from rotmat import Vector3, Matrix3 |
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if len(args) < 1: |
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print("Usage: magfit_delta.py [options] <LOGFILE...>") |
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sys.exit(1) |
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def noise(): |
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'''a noise vector''' |
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from random import gauss |
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v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1)) |
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v.normalize() |
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return v * opts.noise |
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def find_offsets(data, ofs): |
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'''find mag offsets by applying Bills "offsets revisited" algorithm |
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on the data |
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This is an implementation of the algorithm from: |
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http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf |
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''' |
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# a limit on the maximum change in each step |
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max_change = opts.max_change |
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# the gain factor for the algorithm |
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gain = opts.gain |
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data2 = [] |
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for d in data: |
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d = d.copy() + noise() |
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d.x = float(int(d.x + 0.5)) |
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d.y = float(int(d.y + 0.5)) |
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d.z = float(int(d.z + 0.5)) |
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data2.append(d) |
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data = data2 |
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history_idx = 0 |
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mag_history = data[0:opts.history] |
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for i in range(opts.history, len(data)): |
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B1 = mag_history[history_idx] + ofs |
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B2 = data[i] + ofs |
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diff = B2 - B1 |
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diff_length = diff.length() |
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if diff_length <= opts.min_diff: |
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# the mag vector hasn't changed enough - we don't get any |
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# information from this |
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history_idx = (history_idx+1) % opts.history |
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continue |
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mag_history[history_idx] = data[i] |
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history_idx = (history_idx+1) % opts.history |
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# equation 6 of Bills paper |
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delta = diff * (gain * (B2.length() - B1.length()) / diff_length) |
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# limit the change from any one reading. This is to prevent |
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# single crazy readings from throwing off the offsets for a long |
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# time |
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delta_length = delta.length() |
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if max_change != 0 and delta_length > max_change: |
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delta *= max_change / delta_length |
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# set the new offsets |
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ofs = ofs - delta |
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if opts.verbose: |
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print ofs |
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return ofs |
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def magfit(logfile): |
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'''find best magnetometer offset fit to a log file''' |
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print("Processing log %s" % filename) |
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# open the log file |
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mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps) |
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data = [] |
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mag = None |
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offsets = Vector3(0,0,0) |
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# now gather all the data |
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while True: |
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# get the next MAVLink message in the log |
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m = mlog.recv_match(condition=opts.condition) |
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if m is None: |
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break |
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if m.get_type() == "SENSOR_OFFSETS": |
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# update offsets that were used during this flight |
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offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z) |
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if m.get_type() == "RAW_IMU" and offsets != None: |
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# extract one mag vector, removing the offsets that were |
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# used during that flight to get the raw sensor values |
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mag = Vector3(m.xmag, m.ymag, m.zmag) - offsets |
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data.append(mag) |
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print("Extracted %u data points" % len(data)) |
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print("Current offsets: %s" % offsets) |
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# run the fitting algorithm |
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ofs = offsets |
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ofs = Vector3(0,0,0) |
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for r in range(opts.repeat): |
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ofs = find_offsets(data, ofs) |
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print('Loop %u offsets %s' % (r, ofs)) |
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sys.stdout.flush() |
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print("New offsets: %s" % ofs) |
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total = 0.0 |
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for filename in args: |
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magfit(filename)
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