182 lines
7.1 KiB
Python
182 lines
7.1 KiB
Python
#!/usr/bin/env python
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'''
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fit best estimate of magnetometer rotation to gyro data
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'''
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from __future__ import print_function
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from builtins import range
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from builtins import object
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
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parser.add_argument("--verbose", action='store_true', help="verbose output")
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parser.add_argument("--min-rotation", default=5.0, type=float, help="min rotation to add point")
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parser.add_argument("logs", metavar="LOG", nargs="+")
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args = parser.parse_args()
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from pymavlink import mavutil
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from pymavlink.rotmat import Vector3, Matrix3
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from math import radians
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class Rotation(object):
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def __init__(self, name, roll, pitch, yaw):
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self.name = name
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self.roll = roll
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self.pitch = pitch
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self.yaw = yaw
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self.r = Matrix3()
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self.r.from_euler(self.roll, self.pitch, self.yaw)
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def is_90_degrees(self):
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return (self.roll % 90 == 0) and (self.pitch % 90 == 0) and (self.yaw % 90 == 0)
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def __str__(self):
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return self.name
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# the rotations used in APM
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rotations = [
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Rotation("ROTATION_NONE", 0, 0, 0),
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Rotation("ROTATION_YAW_45", 0, 0, 45),
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Rotation("ROTATION_YAW_90", 0, 0, 90),
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Rotation("ROTATION_YAW_135", 0, 0, 135),
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Rotation("ROTATION_YAW_180", 0, 0, 180),
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Rotation("ROTATION_YAW_225", 0, 0, 225),
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Rotation("ROTATION_YAW_270", 0, 0, 270),
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Rotation("ROTATION_YAW_315", 0, 0, 315),
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Rotation("ROTATION_ROLL_180", 180, 0, 0),
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Rotation("ROTATION_ROLL_180_YAW_45", 180, 0, 45),
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Rotation("ROTATION_ROLL_180_YAW_90", 180, 0, 90),
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Rotation("ROTATION_ROLL_180_YAW_135", 180, 0, 135),
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Rotation("ROTATION_PITCH_180", 0, 180, 0),
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Rotation("ROTATION_ROLL_180_YAW_225", 180, 0, 225),
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Rotation("ROTATION_ROLL_180_YAW_270", 180, 0, 270),
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Rotation("ROTATION_ROLL_180_YAW_315", 180, 0, 315),
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Rotation("ROTATION_ROLL_90", 90, 0, 0),
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Rotation("ROTATION_ROLL_90_YAW_45", 90, 0, 45),
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Rotation("ROTATION_ROLL_90_YAW_90", 90, 0, 90),
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Rotation("ROTATION_ROLL_90_YAW_135", 90, 0, 135),
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Rotation("ROTATION_ROLL_270", 270, 0, 0),
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Rotation("ROTATION_ROLL_270_YAW_45", 270, 0, 45),
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Rotation("ROTATION_ROLL_270_YAW_90", 270, 0, 90),
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Rotation("ROTATION_ROLL_270_YAW_135", 270, 0, 135),
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Rotation("ROTATION_PITCH_90", 0, 90, 0),
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Rotation("ROTATION_PITCH_270", 0, 270, 0),
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Rotation("ROTATION_PITCH_180_YAW_90", 0, 180, 90),
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Rotation("ROTATION_PITCH_180_YAW_270", 0, 180, 270),
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Rotation("ROTATION_ROLL_90_PITCH_90", 90, 90, 0),
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Rotation("ROTATION_ROLL_180_PITCH_90", 180, 90, 0),
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Rotation("ROTATION_ROLL_270_PITCH_90", 270, 90, 0),
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Rotation("ROTATION_ROLL_90_PITCH_180", 90, 180, 0),
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Rotation("ROTATION_ROLL_270_PITCH_180", 270, 180, 0),
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Rotation("ROTATION_ROLL_90_PITCH_270", 90, 270, 0),
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Rotation("ROTATION_ROLL_180_PITCH_270", 180, 270, 0),
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Rotation("ROTATION_ROLL_270_PITCH_270", 270, 270, 0),
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Rotation("ROTATION_ROLL_90_PITCH_180_YAW_90", 90, 180, 90),
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Rotation("ROTATION_ROLL_90_YAW_270", 90, 0, 270)
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]
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def mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL):
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'''fixup a mag vector back to original value using AHRS and Compass orientation parameters'''
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if COMPASS_EXTERNAL == 0 and AHRS_ORIENTATION != 0:
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# undo any board orientation
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mag = rotations[AHRS_ORIENTATION].r.transposed() * mag
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# undo any compass orientation
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if COMPASS_ORIENT != 0:
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mag = rotations[COMPASS_ORIENT].r.transposed() * mag
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return mag
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def add_errors(mag, gyr, last_mag, deltat, total_error, rotations):
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for i in range(len(rotations)):
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if not rotations[i].is_90_degrees():
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continue
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r = rotations[i].r
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m = Matrix3()
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m.rotate(gyr * deltat)
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rmag1 = r * last_mag
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rmag2 = r * mag
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rmag3 = m.transposed() * rmag1
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err = rmag3 - rmag2
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total_error[i] += err.length()
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def magfit(logfile):
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'''find best magnetometer rotation fit to a log file'''
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print("Processing log %s" % filename)
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mlog = mavutil.mavlink_connection(filename, notimestamps=args.notimestamps)
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last_mag = None
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last_usec = 0
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count = 0
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total_error = [0]*len(rotations)
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AHRS_ORIENTATION = 0
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COMPASS_ORIENT = 0
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COMPASS_EXTERNAL = 0
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last_gyr = None
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# now gather all the data
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while True:
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m = mlog.recv_match()
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if m is None:
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break
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if m.get_type() in ["PARAM_VALUE", "PARM"]:
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if m.get_type() == "PARM":
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name = str(m.Name)
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value = int(m.Value)
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else:
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name = str(m.param_id)
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value = int(m.param_value)
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if name == "AHRS_ORIENTATION":
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AHRS_ORIENTATION = value
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if name == 'COMPASS_ORIENT':
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COMPASS_ORIENT = value
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if name == 'COMPASS_EXTERNAL':
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COMPASS_EXTERNAL = value
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if m.get_type() in ["RAW_IMU", "MAG","IMU"]:
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if m.get_type() == "RAW_IMU":
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mag = Vector3(m.xmag, m.ymag, m.zmag)
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gyr = Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001
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usec = m.time_usec
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elif m.get_type() == "IMU":
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last_gyr = Vector3(m.GyrX,m.GyrY,m.GyrZ)
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continue
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elif last_gyr is not None:
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mag = Vector3(m.MagX,m.MagY,m.MagZ)
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gyr = last_gyr
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usec = m.TimeMS * 1000
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mag = mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL)
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if last_mag is not None and gyr.length() > radians(args.min_rotation):
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add_errors(mag, gyr, last_mag, (usec - last_usec)*1.0e-6, total_error, rotations)
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count += 1
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last_mag = mag
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last_usec = usec
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best_i = 0
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best_err = total_error[0]
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for i in range(len(rotations)):
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r = rotations[i]
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if not r.is_90_degrees():
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continue
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if args.verbose:
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print("%s err=%.2f" % (r, total_error[i]/count))
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if total_error[i] < best_err:
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best_i = i
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best_err = total_error[i]
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r = rotations[best_i]
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print("Current rotation is AHRS_ORIENTATION=%s COMPASS_ORIENT=%s COMPASS_EXTERNAL=%u" % (
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rotations[AHRS_ORIENTATION],
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rotations[COMPASS_ORIENT],
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COMPASS_EXTERNAL))
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print("Best rotation is %s err=%.2f from %u points" % (r, best_err/count, count))
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print("Please set AHRS_ORIENTATION=%s COMPASS_ORIENT=%s COMPASS_EXTERNAL=1" % (
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rotations[AHRS_ORIENTATION],
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r))
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for filename in args.logs:
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magfit(filename)
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