def __init__(self, sensor):
from data import Sensor, Filter
from pid import DronePID
from motors import BLDC
sensorfusion = kalman.Kalman()#madgwick.Madgwick(0.023)
sensorfusion.roll = 0
sensorfusion.pitch = 0
sensorfusion.yaw = 0
address = 0x68
bus = smbus.SMBus(1)
imu = MPU9250.MPU9250(bus, address)
imu.begin()
imu.loadCalibDataFromFile("/home/pi/projects/drone/app/flask/utils/calib.json")
self.pids = DronePID()
m = BLDC.from_csv()
self.motors = [m[0], m[3], m[1], m[2]]
self.sensor = imu#sensor
self.filter = sensorfusion#Filter()
self.r = redis.Redis('localhost')
self.r.delete('_drone_cmd')
self.r.delete(prio_cmd)
atexit.register(self.quit)
t0 = time.time()
time.sleep(0.5)
self._running = False
self.start()
def __init__(self, debug=False):
super(KalmanMPU, self).__init__()
self.address = 0x68
self.debug = debug
self.ended = False
self.bus = smbus.SMBus(1)
self.imu = MPU9250.MPU9250(self.bus, self.address)
self.imu.setLowPassFilterFrequency("AccelLowPassFilter184")
self.imu.begin()
self.imu.loadCalibDataFromFile("/home/pi/calib_real4.json")
self.sensorfusion = kalman.Kalman()
self.imu.readSensor()
self.imu.computeOrientation()
self.sensorfusion.roll = self.imu.roll
self.sensorfusion.pitch = self.imu.pitch
self.sensorfusion.yaw = self.imu.yaw
from imusensor.MPU9250 import MPU9250
from imusensor.filters import madgwick
from imusensor.filters import kalman
# initializing publisher
host = '192.168.1.8'
port = 8358
url = 'tcp://' + host + ':' + str(port)
context = zmq.Context()
socket = context.socket(zmq.PUB)
socket.bind(url)
sensorfusion = madgwick.Madgwick(0.1)
kalman_filter = kalman.Kalman()
tca = adafruit_tca9548a.TCA9548A(busio.I2C(board.SCL, board.SDA))
address = 0x68
imu = MPU9250.MPU9250(tca, address, 0)
imu.begin()
# imu.caliberateAccelerometer()
# print ("Acceleration calib successful")
# imu.caliberateMag()
# print ("Mag calib successful")
# or load your caliberation file
# imu.loadCalibDataFromFile("/home/pi/calib_real_bolder.json")
imu.readSensor()
imu.computeOrientation()
kalman_filter.roll = imu.roll
from imusensor.MPU9250 import MPU9250
from imusensor.filters import kalman
address = 0x68
bus = smbus.SMBus(1)
imu = MPU9250.MPU9250(bus, address)
imu.begin()
# imu.caliberateAccelerometer()
# print ("Acceleration calib successful")
# imu.caliberateMag()
# print ("Mag calib successful")
# or load your calibration file
# imu.loadCalibDataFromFile("/home/pi/calib_real_bolder.json")
sensorfusion = kalman.Kalman()
imu.readSensor()
imu.computeOrientation()
sensorfusion.roll = imu.roll
sensorfusion.pitch = imu.pitch
sensorfusion.yaw = imu.yaw
count = 0
currTime = time.time()
while True:
imu.readSensor()
imu.computeOrientation()
newTime = time.time()
dt = newTime - currTime
currTime = newTime