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