39 lines
1.2 KiB
Python
39 lines
1.2 KiB
Python
#!/usr/bin/env python
|
|
|
|
'''
|
|
show accel calibration for a set of logs
|
|
'''
|
|
from __future__ import print_function
|
|
|
|
from argparse import ArgumentParser
|
|
parser = ArgumentParser()
|
|
parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
|
|
parser.add_argument("--planner", action='store_true', help="use planner file format")
|
|
parser.add_argument("--robust", action='store_true', help="Enable robust parsing (skip over bad data)")
|
|
parser.add_argument("logs", metavar="LOG", nargs="+")
|
|
|
|
args = parser.parse_args()
|
|
|
|
from pymavlink import mavutil
|
|
|
|
|
|
def process(logfile):
|
|
'''display accel cal for a log file'''
|
|
mlog = mavutil.mavlink_connection(filename,
|
|
planner_format=args.planner,
|
|
notimestamps=args.notimestamps,
|
|
robust_parsing=args.robust)
|
|
|
|
m = mlog.recv_match(type='SENSOR_OFFSETS')
|
|
if m is not None:
|
|
z_sensor = (m.accel_cal_z - 9.805) * (4096/9.81)
|
|
print("accel cal %5.2f %5.2f %5.2f %6u %s" % (
|
|
m.accel_cal_x, m.accel_cal_y, m.accel_cal_z,
|
|
z_sensor,
|
|
logfile))
|
|
|
|
|
|
total = 0.0
|
|
for filename in args.logs:
|
|
process(filename)
|