def ComputeCoverage(p, bias, norm):
q = quaternion.vec2vec2quat(norm, [0, 0, 1])
def ang(p):
c = quaternion.rotvecquat(vector.sub(p[:3], bias), q)
d = quaternion.rotvecquat(p[3:6], q)
v = quaternion.rotvecquat(c, quaternion.vec2vec2quat(d, [0, 0, 1]))
v = vector.normalize(v)
return math.degrees(math.atan2(v[1], v[0]))
#, abs(math.degrees(math.acos(v[2])))
spacing = 20 # 20 degree segments
angles = [False] * int(360 / spacing)
count = 0
for a in lmap(ang, p):
i = int(resolv(a, 180) / spacing)
if not angles[i]:
angles[i] = True
count += 1
return count
def ang(p):
c = quaternion.rotvecquat(vector.sub(p[:3], bias), q)
d = quaternion.rotvecquat(p[3:6], q)
v = quaternion.rotvecquat(c, quaternion.vec2vec2quat(d, [0, 0, 1]))
v = vector.normalize(v)
return math.degrees(math.atan2(v[1], v[0]))
def read(self):
data = self.IMUread()
if not data:
if time.monotonic(
) - self.last_imuread > 1 and self.frequency.value:
print('IMURead failed!')
self.frequency.set(False)
for name in self.SensorValues:
self.SensorValues[name].set(False)
self.uptime.reset()
return False
if vector.norm(data['accel']) == 0:
print('accel values invalid', data['accel'])
return False
self.last_imuread = time.monotonic()
self.frequency.strobe()
# apply alignment calibration
gyro_q = quaternion.rotvecquat(data['gyro'], data['fusionQPose'])
data['pitchrate'], data['rollrate'], data['headingrate'] = map(
math.degrees, gyro_q)
aligned = quaternion.multiply(data['fusionQPose'],
self.alignmentQ.value)
aligned = quaternion.normalize(
aligned) # floating point precision errors
data['roll'], data['pitch'], data['heading'] = map(
math.degrees, quaternion.toeuler(aligned))
if data['heading'] < 0:
data['heading'] += 360
dt = data['timestamp'] - self.lasttimestamp
self.lasttimestamp = data['timestamp']
if dt > .01 and dt < .2:
data['headingraterate'] = (data['headingrate'] -
self.headingrate) / dt
else:
data['headingraterate'] = 0
self.headingrate = data['headingrate']
data['heel'] = self.heel = data['roll'] * .03 + self.heel * .97
#data['roll'] -= data['heel']
data['gyro'] = list(map(math.degrees, data['gyro']))
# lowpass heading and rate
llp = self.heading_lowpass_constant.value
data['heading_lowpass'] = heading_filter(
llp, data['heading'], self.SensorValues['heading_lowpass'].value)
llp = self.headingrate_lowpass_constant.value
data['headingrate_lowpass'] = llp * data['headingrate'] + (
1 - llp) * self.SensorValues['headingrate_lowpass'].value
llp = self.headingraterate_lowpass_constant.value
data['headingraterate_lowpass'] = llp * data['headingraterate'] + (
1 - llp) * self.SensorValues['headingraterate_lowpass'].value
# set sensors
for name in self.SensorValues:
self.SensorValues[name].set(data[name])
self.uptime.update()
# count down to alignment
if self.alignmentCounter.value != self.last_alignmentCounter:
self.alignmentPose = [0, 0, 0, 0]
if self.alignmentCounter.value > 0:
self.alignmentPose = list(
map(lambda x, y: x + y, self.alignmentPose, aligned))
self.alignmentCounter.set(self.alignmentCounter.value - 1)
if self.alignmentCounter.value == 0:
self.alignmentPose = quaternion.normalize(self.alignmentPose)
adown = quaternion.rotvecquat([0, 0, 1],
quaternion.conjugate(
self.alignmentPose))
alignment = []
alignment = quaternion.vec2vec2quat([0, 0, 1], adown)
alignment = quaternion.multiply(self.alignmentQ.value,
alignment)
if len(alignment):
self.update_alignment(alignment)
self.last_alignmentCounter = self.alignmentCounter.value
# if alignment or heading offset changed:
if self.heading_off.value != self.heading_off.last or \
self.alignmentQ.value != self.alignmentQ.last:
self.update_alignment(self.alignmentQ.value)
self.heading_off.last = self.heading_off.value
self.alignmentQ.last = self.alignmentQ.value
if self.auto_cal.cal_pipe:
#print('warning, cal pipe always sending despite locks')
cal_data = {}
#how to check this here?? if not 'imu.accel.calibration.locked'
cal_data['accel'] = list(data['accel'])
#how to check this here?? if not 'imu.compass.calibration.locked'
cal_data['compass'] = list(data['compass'])
cal_data['fusionQPose'] = list(data['fusionQPose'])
if cal_data:
#print('send', cal_data)
self.auto_cal.cal_pipe.send(cal_data)
return data
def IMURead(self):
data = False
while self.poller.poll(0): # read all the data from the pipe
data = self.imu_pipe.recv()
if not data:
if time.time() - self.last_imuread > 1 and self.loopfreq.value:
print 'IMURead failed!'
self.loopfreq.set(0)
for name in self.SensorValues:
self.SensorValues[name].set(False)
self.uptime.reset()
return False
if vector.norm(data['accel']) == 0:
print 'vector n', data['accel']
return False
self.last_imuread = time.time()
self.loopfreq.strobe()
if not self.FirstTimeStamp:
self.FirstTimeStamp = data['timestamp']
data['timestamp'] -= self.FirstTimeStamp
#data['accel_comp'] = quaternion.rotvecquat(vector.sub(data['accel'], down), self.alignmentQ.value)
# apply alignment calibration
gyro_q = quaternion.rotvecquat(data['gyro'], data['fusionQPose'])
data['pitchrate'], data['rollrate'], data['headingrate'] = map(
math.degrees, gyro_q)
origfusionQPose = data['fusionQPose']
aligned = quaternion.multiply(data['fusionQPose'],
self.alignmentQ.value)
data['fusionQPose'] = quaternion.normalize(
aligned) # floating point precision errors
data['roll'], data['pitch'], data['heading'] = map(
math.degrees, quaternion.toeuler(data['fusionQPose']))
if data['heading'] < 0:
data['heading'] += 360
dt = data['timestamp'] - self.lasttimestamp
self.lasttimestamp = data['timestamp']
if dt > .02 and dt < .5:
data['headingraterate'] = (data['headingrate'] -
self.headingrate) / dt
else:
data['headingraterate'] = 0
self.headingrate = data['headingrate']
data['heel'] = self.heel = data['roll'] * .03 + self.heel * .97
#data['roll'] -= data['heel']
data['gyro'] = list(map(math.degrees, data['gyro']))
data['gyrobias'] = list(map(math.degrees, data['gyrobias']))
# lowpass heading and rate
llp = self.heading_lowpass_constant.value
data['heading_lowpass'] = heading_filter(
llp, data['heading'], self.SensorValues['heading_lowpass'].value)
llp = self.headingrate_lowpass_constant.value
data['headingrate_lowpass'] = llp * data['headingrate'] + (
1 - llp) * self.SensorValues['headingrate_lowpass'].value
llp = self.headingraterate_lowpass_constant.value
data['headingraterate_lowpass'] = llp * data['headingraterate'] + (
1 - llp) * self.SensorValues['headingraterate_lowpass'].value
# set sensors
self.server.TimeStamp('imu', data['timestamp'])
for name in self.SensorValues:
self.SensorValues[name].set(data[name])
compass, accel, down = False, False, False
if not self.accel_calibration.locked.value:
accel = list(data['accel'])
if not self.compass_calibration.locked.value:
down = quaternion.rotvecquat([0, 0, 1],
quaternion.conjugate(origfusionQPose))
compass = list(data['compass']) + down
if accel or compass:
self.auto_cal.AddPoint((accel, compass, down))
self.uptime.update()
# count down to alignment
if self.alignmentCounter.value != self.last_alignmentCounter:
self.alignmentPose = [0, 0, 0, 0]
if self.alignmentCounter.value > 0:
self.alignmentPose = list(
map(lambda x, y: x + y, self.alignmentPose,
data['fusionQPose']))
self.alignmentCounter.set(self.alignmentCounter.value - 1)
if self.alignmentCounter.value == 0:
self.alignmentPose = quaternion.normalize(self.alignmentPose)
adown = quaternion.rotvecquat([0, 0, 1],
quaternion.conjugate(
self.alignmentPose))
alignment = []
alignment = quaternion.vec2vec2quat([0, 0, 1], adown)
alignment = quaternion.multiply(self.alignmentQ.value,
alignment)
if len(alignment):
self.update_alignment(alignment)
self.last_alignmentCounter = self.alignmentCounter.value
if self.heading_off.value != self.last_heading_off:
self.update_alignment(self.alignmentQ.value)
self.last_heading_off = self.heading_off.value
result = self.auto_cal.UpdatedCalibration()
if result:
if result[0] == 'accel' and not self.accel_calibration.locked.value:
#print '[boatimu] cal result', result[0]
self.accel_calibration.sigmapoints.set(result[2])
if result[1]:
self.accel_calibration.age.reset()
self.accel_calibration.set(result[1])
elif result[
0] == 'compass' and not self.compass_calibration.locked.value:
#print '[boatimu] cal result', result[0]
self.compass_calibration.sigmapoints.set(result[2])
if result[1]:
self.compass_calibration.age.reset()
self.compass_calibration.set(result[1])
self.accel_calibration.age.update()
self.compass_calibration.age.update()
return data
def IMURead(self):
data = False
while self.poller.poll(0): # read all the data from the pipe
data = self.imu_pipe.recv()
if not data:
if time.time() - self.last_imuread > 1 and self.loopfreq.value:
print('IMURead failed!')
self.loopfreq.set(0)
for name in self.SensorValues:
self.SensorValues[name].set(False)
self.uptime.reset()
return False
if vector.norm(data['accel']) == 0:
print('accel values invalid', data['accel'])
return False
t = time.time()
self.timestamp.set(t - self.starttime)
self.last_imuread = t
self.loopfreq.strobe()
# apply alignment calibration
gyro_q = quaternion.rotvecquat(data['gyro'], data['fusionQPose'])
data['pitchrate'], data['rollrate'], data['headingrate'] = map(
math.degrees, gyro_q)
origfusionQPose = data['fusionQPose']
aligned = quaternion.multiply(data['fusionQPose'],
self.alignmentQ.value)
data['fusionQPose'] = quaternion.normalize(
aligned) # floating point precision errors
data['roll'], data['pitch'], data['heading'] = map(
math.degrees, quaternion.toeuler(data['fusionQPose']))
if data['heading'] < 0:
data['heading'] += 360
dt = data['timestamp'] - self.lasttimestamp
self.lasttimestamp = data['timestamp']
if dt > .02 and dt < .5:
data['headingraterate'] = (data['headingrate'] -
self.headingrate) / dt
else:
data['headingraterate'] = 0
self.headingrate = data['headingrate']
data['heel'] = self.heel = data['roll'] * .03 + self.heel * .97
#data['roll'] -= data['heel']
data['gyro'] = list(map(math.degrees, data['gyro']))
data['gyrobias'] = list(map(math.degrees, data['gyrobias']))
# lowpass heading and rate
llp = self.heading_lowpass_constant.value
data['heading_lowpass'] = heading_filter(
llp, data['heading'], self.SensorValues['heading_lowpass'].value)
llp = self.headingrate_lowpass_constant.value
data['headingrate_lowpass'] = llp * data['headingrate'] + (
1 - llp) * self.SensorValues['headingrate_lowpass'].value
llp = self.headingraterate_lowpass_constant.value
data['headingraterate_lowpass'] = llp * data['headingraterate'] + (
1 - llp) * self.SensorValues['headingraterate_lowpass'].value
# set sensors
for name in self.SensorValues:
self.SensorValues[name].set(data[name])
self.uptime.update()
# count down to alignment
if self.alignmentCounter.value != self.last_alignmentCounter:
self.alignmentPose = [0, 0, 0, 0]
if self.alignmentCounter.value > 0:
self.alignmentPose = list(
map(lambda x, y: x + y, self.alignmentPose,
data['fusionQPose']))
self.alignmentCounter.set(self.alignmentCounter.value - 1)
if self.alignmentCounter.value == 0:
self.alignmentPose = quaternion.normalize(self.alignmentPose)
adown = quaternion.rotvecquat([0, 0, 1],
quaternion.conjugate(
self.alignmentPose))
alignment = []
alignment = quaternion.vec2vec2quat([0, 0, 1], adown)
alignment = quaternion.multiply(self.alignmentQ.value,
alignment)
if len(alignment):
self.update_alignment(alignment)
self.last_alignmentCounter = self.alignmentCounter.value
# if alignment or heading offset changed:
if self.heading_off.value != self.heading_off.last or self.alignmentQ.value != self.alignmentQ.last:
self.update_alignment(self.alignmentQ.value)
self.heading_off.last = self.heading_off.value
self.alignmentQ.last = self.alignmentQ.value
cal_data = {}
if not self.accel_calibration.locked.value:
cal_data['accel'] = list(data['accel'])
if not self.compass_calibration.locked.value:
cal_data['compass'] = list(data['compass'])
cal_data['down'] = quaternion.rotvecquat(
[0, 0, 1], quaternion.conjugate(origfusionQPose))
if cal_data:
self.auto_cal.cal_pipe.send(cal_data)
self.accel_calibration.age.update()
self.compass_calibration.age.update()
return data
