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How to use rotation method in ATX

Best Python code snippet using ATX

magfit_rotation_gyro.py

Source:magfit_rotation_gyro.py

1#!/usr/bin/env python2'''3fit best estimate of magnetometer rotation to gyro data4'''5import sys, time, os, math6from argparse import ArgumentParser7parser = ArgumentParser(description=__doc__)8parser.add_argument("--no-timestamps", dest="notimestamps", action='store_true', help="Log doesn't have timestamps")9parser.add_argument("--verbose", action='store_true', help="verbose output")10parser.add_argument("--min-rotation", default=5.0, type=float, help="min rotation to add point")11parser.add_argument("logs", metavar="LOG", nargs="+")12args = parser.parse_args()13from pymavlink import mavutil14from pymavlink.rotmat import Vector3, Matrix315from math import radians, degrees16class Rotation(object):17    def __init__(self, name, roll, pitch, yaw):18        self.name = name19        self.roll = roll20        self.pitch = pitch21        self.yaw = yaw22        self.r = Matrix3()23        self.r.from_euler(self.roll, self.pitch, self.yaw)24    def is_90_degrees(self):25        return (self.roll % 90 == 0) and (self.pitch % 90 == 0) and (self.yaw % 90 == 0)26    def __str__(self):27        return self.name28# the rotations used in APM29rotations = [30    Rotation("ROTATION_NONE",                      0,   0,   0),31    Rotation("ROTATION_YAW_45",                    0,   0,  45),32    Rotation("ROTATION_YAW_90",                    0,   0,  90),33    Rotation("ROTATION_YAW_135",                   0,   0, 135),34    Rotation("ROTATION_YAW_180",                   0,   0, 180),35    Rotation("ROTATION_YAW_225",                   0,   0, 225),36    Rotation("ROTATION_YAW_270",                   0,   0, 270),37    Rotation("ROTATION_YAW_315",                   0,   0, 315),38    Rotation("ROTATION_ROLL_180",                180,   0,   0),39    Rotation("ROTATION_ROLL_180_YAW_45",         180,   0,  45),40    Rotation("ROTATION_ROLL_180_YAW_90",         180,   0,  90),41    Rotation("ROTATION_ROLL_180_YAW_135",        180,   0, 135),42    Rotation("ROTATION_PITCH_180",                 0, 180,   0),43    Rotation("ROTATION_ROLL_180_YAW_225",        180,   0, 225),44    Rotation("ROTATION_ROLL_180_YAW_270",        180,   0, 270),45    Rotation("ROTATION_ROLL_180_YAW_315",        180,   0, 315),46    Rotation("ROTATION_ROLL_90",                  90,   0,   0),47    Rotation("ROTATION_ROLL_90_YAW_45",           90,   0,  45),48    Rotation("ROTATION_ROLL_90_YAW_90",           90,   0,  90),49    Rotation("ROTATION_ROLL_90_YAW_135",          90,   0, 135),50    Rotation("ROTATION_ROLL_270",                270,   0,   0),51    Rotation("ROTATION_ROLL_270_YAW_45",         270,   0,  45),52    Rotation("ROTATION_ROLL_270_YAW_90",         270,   0,  90),53    Rotation("ROTATION_ROLL_270_YAW_135",        270,   0, 135),54    Rotation("ROTATION_PITCH_90",                  0,  90,   0),55    Rotation("ROTATION_PITCH_270",                 0, 270,   0),56    Rotation("ROTATION_PITCH_180_YAW_90",          0, 180,  90),57    Rotation("ROTATION_PITCH_180_YAW_270",         0, 180, 270),58    Rotation("ROTATION_ROLL_90_PITCH_90",         90,  90,   0),59    Rotation("ROTATION_ROLL_180_PITCH_90",       180,  90,   0),60    Rotation("ROTATION_ROLL_270_PITCH_90",       270,  90,   0),61    Rotation("ROTATION_ROLL_90_PITCH_180",        90, 180,   0),62    Rotation("ROTATION_ROLL_270_PITCH_180",      270, 180,   0),63    Rotation("ROTATION_ROLL_90_PITCH_270",        90, 270,   0),64    Rotation("ROTATION_ROLL_180_PITCH_270",      180, 270,   0),65    Rotation("ROTATION_ROLL_270_PITCH_270",      270, 270,   0),66    Rotation("ROTATION_ROLL_90_PITCH_180_YAW_90", 90, 180,  90),67    Rotation("ROTATION_ROLL_90_YAW_270",          90,   0, 270)68    ]69def mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL):70    '''fixup a mag vector back to original value using AHRS and Compass orientation parameters'''71    if COMPASS_EXTERNAL == 0 and AHRS_ORIENTATION != 0:72        # undo any board orientation73        mag = rotations[AHRS_ORIENTATION].r.transposed() * mag74    # undo any compass orientation75    if COMPASS_ORIENT != 0:76        mag = rotations[COMPASS_ORIENT].r.transposed() * mag77    return mag78def add_errors(mag, gyr, last_mag, deltat, total_error, rotations):79    for i in range(len(rotations)):80        if not rotations[i].is_90_degrees():81            continue82        r = rotations[i].r83        m = Matrix3()84        m.rotate(gyr * deltat)85        rmag1 = r * last_mag86        rmag2 = r * mag87        rmag3 = m.transposed() * rmag188        err = rmag3 - rmag289        total_error[i] += err.length()90def magfit(logfile):91    '''find best magnetometer rotation fit to a log file'''92    print("Processing log %s" % filename)93    mlog = mavutil.mavlink_connection(filename, notimestamps=args.notimestamps)94    last_mag = None95    last_usec = 096    count = 097    total_error = [0]*len(rotations)98    AHRS_ORIENTATION = 099    COMPASS_ORIENT = 0100    COMPASS_EXTERNAL = 0101    last_gyr = None102    # now gather all the data103    while True:104        m = mlog.recv_match()105        if m is None:106            break107        if m.get_type() in ["PARAM_VALUE", "PARM"]:108            if m.get_type() == "PARM":109                name = str(m.Name)110                value = int(m.Value)111            else:112                name = str(m.param_id)113                value = int(m.param_value)114            if name == "AHRS_ORIENTATION":115                AHRS_ORIENTATION = value116            if name == 'COMPASS_ORIENT':117                COMPASS_ORIENT = value118            if name == 'COMPASS_EXTERNAL':119                COMPASS_EXTERNAL = value120        if m.get_type() in ["RAW_IMU", "MAG","IMU"]:121            if m.get_type() == "RAW_IMU":122                mag = Vector3(m.xmag, m.ymag, m.zmag)123                gyr = Vector3(m.xgyro, m.ygyro, m.zgyro) * 0.001124                usec = m.time_usec125            elif m.get_type() == "IMU":126                last_gyr = Vector3(m.GyrX,m.GyrY,m.GyrZ)127                continue128            elif last_gyr is not None:129                mag = Vector3(m.MagX,m.MagY,m.MagZ)130                gyr = last_gyr131                usec = m.TimeMS * 1000132            mag = mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL)133            if last_mag is not None and gyr.length() > radians(args.min_rotation):134                add_errors(mag, gyr, last_mag, (usec - last_usec)*1.0e-6, total_error, rotations)135                count += 1136            last_mag = mag137            last_usec = usec138    best_i = 0139    best_err = total_error[0]140    for i in range(len(rotations)):141        r = rotations[i]142        if not r.is_90_degrees():143            continue144        if args.verbose:145            print("%s err=%.2f" % (r, total_error[i]/count))146        if total_error[i] < best_err:147            best_i = i148            best_err = total_error[i]149    r = rotations[best_i]150    print("Current rotation is AHRS_ORIENTATION=%s COMPASS_ORIENT=%s COMPASS_EXTERNAL=%u" % (151        rotations[AHRS_ORIENTATION],152        rotations[COMPASS_ORIENT],153        COMPASS_EXTERNAL))154    print("Best rotation is %s err=%.2f from %u points" % (r, best_err/count, count))155    print("Please set AHRS_ORIENTATION=%s COMPASS_ORIENT=%s COMPASS_EXTERNAL=1" % (156        rotations[AHRS_ORIENTATION],157        r))158for filename in args.logs:...

ori_filter.py

Source:ori_filter.py

1import cv22import numpy as np3# http://campar.in.tum.de/Chair/KalmanFilter4"""5This is a Kalman filter implementation for rotation6To solve issues with wrapping at 0deg-360deg, total rotations are tracked7"""8class OrientationFilter:9    def __init__(self, orientation):10        self.rotation_value = orientation * np.pi / 180.011        self.orientation = orientation12        self.kf = cv2.KalmanFilter(3, 1, 0)13        self.kf.measurementMatrix = np.array([[1., 0., 0.]], np.float32)14        # Q: process noise covariance15        self.kf.processNoiseCov = cv2.setIdentity(self.kf.processNoiseCov, 0.1)16        #  R: measurement noise covariance17        self.kf.measurementNoiseCov = cv2.setIdentity(self.kf.measurementNoiseCov, 0.1)18        # self.kf.errorCovPost = cv2.setIdentity(self.kf.errorCovPost, 1e-4)19        #  Q, the process noise covariance, contributes to the overall uncertainty.20        #  When Q is large, the Kalman Filter tracks large changes in the data more closely than for smaller Q.21        #  R, the measurement noise covariance, determines how much information from the measurement is used.22        #  If R is high, the Kalman Filter considers the measurements as not very accurate. For smaller R it will follow the measurements more closely.23    def predict(self, dt):24        self.kf.transitionMatrix = np.array(25            [[1, dt, 0.5 * dt * dt], [0, 1, dt], [0, 0, 1]], np.float3226        )27        prediction = self.kf.predict()28        self.rotation_value = prediction[0][0]29        temp_rotation_value = self.rotation_value30        if temp_rotation_value > 0:31            while temp_rotation_value > (2 * np.pi):32                temp_rotation_value -= 2 * np.pi33        if temp_rotation_value < 0:34            while temp_rotation_value < 0:35                temp_rotation_value += 2 * np.pi36        self.orientation = int(temp_rotation_value * 180 / np.pi)37    def correct(self, orientation):38        measured_orientation_rad = orientation * np.pi / 180.039        temp_rotation_value = self.rotation_value40        if temp_rotation_value > 0:41            while temp_rotation_value > (2 * np.pi):42                temp_rotation_value -= 2 * np.pi43        if temp_rotation_value < 0:44            while temp_rotation_value < 0:45                temp_rotation_value += 2 * np.pi46        rotation_diff = measured_orientation_rad - temp_rotation_value47        # * this is between -2PI and 2PI, but if it is more than PI, it is closer from the other direction48        if rotation_diff < -1 * np.pi:49            rotation_diff += (2 * np.pi)50        if rotation_diff > np.pi:51            rotation_diff -= (2 * np.pi)52        measurement = self.rotation_value + rotation_diff53        corrected = self.kf.correct(np.array([measurement], np.float32))54        self.rotation_value = corrected[0][0]55        # convert to degrees to draw in opencv56        temp_rotation_value = self.rotation_value57        if temp_rotation_value > 0:58            while temp_rotation_value > (2 * np.pi):59                temp_rotation_value -= 2 * np.pi60        if temp_rotation_value < 0:61            while temp_rotation_value < 0:62                temp_rotation_value += 2 * np.pi...

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