def rotateAcceleration(accel, angles):
#angles: 0:roll, 1:pitch, 2:yaw
#accel: 0:x, 1:y, 2:z
#gravity = rotateGravity(angles)
#accel[0] -= gravity[0]
#accel[1] -= gravity[1]
#accel[2] -= gravity[2]
rotAccel = [[0.0 for i in range(len(accel[0]))] for i in range(3)]
roll = [math.radians(i) for i in angles[0]]
pitch = [math.radians(i) for i in angles[1]]
yaw = [math.radians(i) for i in angles[2]]
alpha = 0.05
accel[0] = filters.lowpass(filters.highpass(accel[0], alpha), 0.2)
accel[1] = filters.lowpass(filters.highpass(accel[1], alpha), 0.2)
accel[2] = filters.lowpass(filters.highpass(accel[2], alpha), 0.2)
for k in range(len(accel[0])):
R = RtoGround(roll[k], pitch[k], yaw[k])
for i in range(3):
for j in range(3):
rotAccel[i][k] += R[i][j] * accel[j][k]
return rotAccel
def rotateAcceleration(accel, angles):
#angles: 0:roll, 1:pitch, 2:yaw
#accel: 0:x, 1:y, 2:z
#gravity = rotateGravity(angles)
#accel[0] -= gravity[0]
#accel[1] -= gravity[1]
#accel[2] -= gravity[2]
rotAccel = [[0.0 for i in range(len(accel[0]))] for i in range(3)]
roll = [math.radians(i) for i in angles[0]]
pitch = [math.radians(i) for i in angles[1]]
yaw = [math.radians(i) for i in angles[2]]
alpha = 0.05
accel[0] = filters.lowpass(filters.highpass(accel[0], alpha), 0.2)
accel[1] = filters.lowpass(filters.highpass(accel[1], alpha), 0.2)
accel[2] = filters.lowpass(filters.highpass(accel[2], alpha), 0.2)
for k in range(len(accel[0])):
R = RtoGround(roll[k], pitch[k], yaw[k])
for i in range(3):
for j in range(3):
rotAccel[i][k] += R[i][j] * accel[j][k]
return rotAccel
reshaped_data = None
# Extract data chunk for single channel
channel =21
minutes = 60
seconds = minutes*60
num_samples_per_chunk = seconds*freq
channel_data = reshaped_data_T[channel,:num_samples_per_chunk]
reshaped_data_T = None
# Convert from interger values to microvolts, sub 32768 to go back to signed, 0.195 from analog to digital converter
channel_data_uV = (channel_data.astype(np.float32) - 32768) * 0.195
channel_data = None
# FILTERS (one ch at the time)
channel_data_highpass = highpass(channel_data_uV,BUTTER_ORDER=3, F_HIGH=14250,sampleFreq=30000.0,passFreq=500)
#data_lowpass = butter_filter_lowpass(data_zero_mean[channel_number,:], lowcut=250, fs=30000, order=3, btype='lowpass')
#channel_data_highpass = butter_filter(channel_data_uV, 500, 5000, fs=30000, order=3, btype='bandpass')
#lowcut = 500
#highcut = 2000
#channel_data_bandpass = butter_filter(channel_data_uV, lowcut, highcut, fs=30000, order=3, btype='bandstop')
f0 =plt.figure(figsize=(15,4))
sns.set()
sns.set_style('white')
sns.axes_style('white')
sns.despine(left=False)
figure_name = 'uv_ch_22.pdf'