def getGyro():
gyro = mpu9250.read_gyro_data() # returns 3 axes gyro data (deg/s)
gyro = np.round(gyro, 2)
return(gyro)
if rcpy.get_state() == rcpy.RUNNING:
temp = mpu9250.read_imu_temp()
data = mpu9250.read_accel_data()
save.append(data[1])
avg = avg + data[1]
i = i + 1
avg = avg / 100
print('doing')
time.sleep(0.01)
print('done')
for i in range(0, len(save)):
sigma = sigma + ((save[i] - avg)**2)
stdv = math.sqrt(sigma / 100)
cov = stdv**2
cov = [[cov, 0, 0], [0, cov, 0], [0, 0, cov]]
print('done1')
if rcpy.get_state() == rcpy.RUNNING:
print('hi')
temp = mpu9250.read_imu_temp()
data = mpu9250.read_accel_data()
data_gyro = mpu9250.read_gyro_data()
g = Kalman(data, data_gyro, cov)
print(g)
time.sleep(1) # sleep some
except KeyboardInterrupt:
# Catch Ctrl-C
pass
finally:
print("\nBye BeagleBone!")
def test1():
N = 1
try:
# no magnetometer
mpu9250.initialize(enable_magnetometer = False)
conf = mpu9250.get()
assert conf == {'orientation': 136, 'accel_dlpf': 2, 'gyro_dlpf': 2, 'compass_time_constant': 5.0, 'enable_fusion': False, 'enable_dmp': False, 'enable_magnetometer': False, 'accel_fsr': 1, 'dmp_sample_rate': 100, 'show_warnings': False, 'gyro_fsr': 2, 'dmp_interrupt_priority': 98}
print('\n Accel XYZ(m/s^2) | Gyro XYZ (rad/s) | Temp (C)')
for i in range(N):
(ax,ay,az) = mpu9250.read_accel_data()
(gx,gy,gz) = mpu9250.read_gyro_data()
temp = mpu9250.read_imu_temp()
print(('\r{:6.2f} {:6.2f} {:6.2f} |' +
'{:6.1f} {:6.1f} {:6.1f} | {:6.1f}')
.format(ax, ay, az,
gx, gy, gz, temp),
end='')
time.sleep(1)
with pytest.raises(mpu9250.error):
mpu9250.read_mag_data()
# consolidated read function
for i in range(N):
data = mpu9250.read()
print(('\r{0[0]:6.2f} {0[1]:6.2f} {0[2]:6.2f} |'
'{1[0]:6.1f} {1[1]:6.1f} {1[2]:6.1f} |')
.format(data['accel'],
data['gyro']),
end='')
time.sleep(1)
# with magnetometer
mpu9250.initialize(enable_magnetometer = True)
conf = mpu9250.get()
assert conf == {'orientation': 136, 'accel_dlpf': 2, 'gyro_dlpf': 2, 'compass_time_constant': 5.0, 'enable_fusion': False, 'enable_dmp': False, 'enable_magnetometer': True, 'accel_fsr': 1, 'dmp_sample_rate': 100, 'show_warnings': False, 'gyro_fsr': 2, 'dmp_interrupt_priority': 98}
print('\n Accel XYZ(m/s^2) | Gyro XYZ (rad/s) | Mag Field XYZ(uT) | Temp (C)')
for i in range(N):
(ax,ay,az) = mpu9250.read_accel_data()
(gx,gy,gz) = mpu9250.read_gyro_data()
(mx,my,mz) = mpu9250.read_mag_data()
temp = mpu9250.read_imu_temp()
print(('\r{:6.2f} {:6.2f} {:6.2f} |' +
'{:6.1f} {:6.1f} {:6.1f} |'
'{:6.1f} {:6.1f} {:6.1f} | {:6.1f}')
.format(ax, ay, az,
gx, gy, gz,
mx, my, mz, temp),
end='')
time.sleep(1)
# consolidated read function
for i in range(N):
data = mpu9250.read()
print(('\r{0[0]:6.2f} {0[1]:6.2f} {0[2]:6.2f} |'
'{1[0]:6.1f} {1[1]:6.1f} {1[2]:6.1f} |'
'{2[0]:6.1f} {2[1]:6.1f} {2[2]:6.1f} |')
.format(data['accel'],
data['gyro'],
data['mag']),
end='')
time.sleep(1)
except (KeyboardInterrupt, SystemExit):
pass
finally:
mpu9250.power_off()