def __init__(self):
self.ekf = ASL_EKF()
self.baro = 0
self.sonar = 0
baromin = BARO_BASELINE - BARO_RANGE
baromax = BARO_BASELINE + BARO_RANGE
max_asl_cm = int(baro2asl(baromin))
min_asl_cm = int(baro2asl(baromax))
RealtimePlotter.__init__(self, [(min_asl_cm,max_asl_cm), (baromin,baromax), (0,SONAR_RANGE)],
window_name='Altitude Sensor Fusion',
yticks = [
range(min_asl_cm, max_asl_cm, 50), # Fused
range(baromin,baromax,int((baromax-baromin)/10.)), # Baro
range(0, SONAR_RANGE, 20) # Sonar
],
styles = ['r','b', 'g'],
ylabels=['Fused ASL (cm)', 'Baro (Pa)', 'Sonar ASL (cm)'])
self.xcurr = 0
self.fused = 0
def __init__(self, ekf):
self.ekf = ekf
baroBaseline = ekf.getBaroBaseline()
baromin = baroBaseline - BARO_RANGE
baromax = baroBaseline + BARO_RANGE
max_asl_cm = int(baro2asl(baromin))
min_asl_cm = int(baro2asl(baromax))
RealtimePlotter.__init__(
self,
[(min_asl_cm, max_asl_cm), (baromin, baromax), (0, SONAR_RANGE)],
window_name="Altitude Sensor Fusion",
yticks=[
range(min_asl_cm, max_asl_cm, 50), # Fused
range(baromin, baromax, int((baromax - baromin) / 10.0)), # Baro
range(0, SONAR_RANGE, 20), # Sonar
],
styles=["r", "b", "g"],
ylabels=["Fused ASL (cm)", "Baro (Pa)", "Sonar ASL (cm)"],
)
self.xcurr = 0
self.fused = 0
def __init__(self):
self.port = Serial(ARDUINO_PORT, ARDUINO_BAUD)
p_lo = 970
p_hi = 990
p_range = p_lo, p_hi
t_lo = 20
t_hi = 40
t_range = t_lo, t_hi
t_ticks = tuple(range(t_lo, t_hi, 2))
p_ticks = tuple(range(p_lo, p_hi, 2))
RealtimePlotter.__init__(
self,
[p_range, t_range, t_range, p_range, t_range],
window_name="EKF demo",
yticks=[p_ticks, t_ticks, t_ticks, p_ticks, t_ticks],
styles=["r--", "b-", "g-", "k-", "k-"],
ylabels=["Baro Press (mb)", "Baro Temp(C)", "LM35 Temp(C)", "Baro EKF", "Temp EKF"],
interval_msec=1,
)
self.pbaro, self.tbaro, self.tlm35, self.p_ekf, self.t_ekf = 0, 0, 0, 0, 0
self.msg = ""
def __init__(self):
RealtimePlotter.__init__(self, [(-1,+1), (-1,+1)],
window_name='Sinewave demo',
yticks = [(-1,0,+1),(-1,0,+1)],
styles = ['r--', 'b-'],
ylabels=['Slow', 'Fast'])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1,+1)],
window_name='Sine and Cosine',
yticks = [(-1,0,+1)],
styles = [('r--', 'b-')],
legends = [('sin', 'cos')])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1, +1)],
window_name='Sine and Cosine',
yticks=[(-1, 0, +1)],
styles=[('r--', 'b-')],
legends=[('sin', 'cos')])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1, +1), (-1, +1)],
phaselims=((-1, +1), (-1, +1)),
window_name='Sinewave demo',
yticks=[(-1, 0, +1), (-1, 0, +1)],
styles=['r--', 'b-'],
ylabels=['Sin', 'Cos'])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1, +1), (-1, +1)],
show_yvals=True,
window_name='Sinewave demo',
yticks=[(-1, 0, +1), (-1, 0, +1)],
styles=['r--', 'b-'],
ylabels=['Slow', 'Fast'])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1,+1), (-1,+1)],
phaselims=((-1,+1), (-1,+1)),
window_name='Sinewave demo',
yticks = [(-1,0,+1),(-1,0,+1)],
styles = ['r--', 'b-'],
ylabels=['Sin', 'Cos'])
self.xcurr = 0
def __init__(self):
RealtimePlotter.__init__(self, [(-1, +1), (-1, +1)],
phaselims=((-1, +1), (-1, +1)),
window_name='Position',
yticks=[(-1, 0, +1), (-1, 0, +1)],
styles=['r--', 'b-'],
ylabels=['X', 'Y'])
self.xcurr = 0
self.start_time = time()
self.start_pos = None
self.pos = (0, 0)
def __init__(self):
ranges = [(-lim,+lim) for lim in [BARO_RANGE, ALTITUDE_RANGE, VELOCITY_RANGE, ACCELERATION_RANGE]]
RealtimePlotter.__init__(self,
ranges,
show_yvals=True,
ylabels=['Barometer', 'Altitude', 'Velocity', 'Acceleration'],
yticks=[np.linspace(rng[0], rng[1], NTICKS-1) for rng in ranges],
window_name='Altitude Estimation',
styles=['b', 'r', 'g', 'y'])
self.tick = 0
self.vals = None
def __init__(self):
ranges = [(-1, 5), (-5, +5), (-5, +5)]
RealtimePlotter.__init__(
self,
ranges,
show_yvals=True,
ylabels=['Altitude', 'Variometer', 'FirstDiff'],
window_name='Altitude Estimation',
styles=['b', 'r', 'g'])
self.tick = 0
self.vals = None