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Magfitrotation.cs
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Magfitrotation.cs
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using System;
using log4net;
using MissionPlanner.Utilities;
namespace MissionPlanner
{
public class Magfitrotation : Utils
{
private static readonly ILog log =
LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
// copy of https://github.com/mavlink/mavlink/blob/master/pymavlink/tools/magfit_rotation_gyro.py
class Rotation
{
Rotation self;
public string name;
public double roll;
public double pitch;
public double yaw;
public Matrix3 r;
public Rotation(string name, double roll, double pitch, double yaw)
{
self = this;
self.name = name;
self.roll = roll;
self.pitch = pitch;
self.yaw = yaw;
self.r = new Matrix3();
r.from_euler(roll, pitch, yaw);
}
public bool is_90_degrees()
{
return (self.roll%90 == 0) && (self.pitch%90 == 0) && (self.yaw%90 == 0);
}
public override string ToString()
{
return self.name;
}
}
//# the rotations used in APM
static Rotation[] rotations =
{
new Rotation("ROTATION_NONE", 0, 0, 0),
new Rotation("ROTATION_YAW_45", 0, 0, 45),
new Rotation("ROTATION_YAW_90", 0, 0, 90),
new Rotation("ROTATION_YAW_135", 0, 0, 135),
new Rotation("ROTATION_YAW_180", 0, 0, 180),
new Rotation("ROTATION_YAW_225", 0, 0, 225),
new Rotation("ROTATION_YAW_270", 0, 0, 270),
new Rotation("ROTATION_YAW_315", 0, 0, 315),
new Rotation("ROTATION_ROLL_180", 180, 0, 0),
new Rotation("ROTATION_ROLL_180_YAW_45", 180, 0, 45),
new Rotation("ROTATION_ROLL_180_YAW_90", 180, 0, 90),
new Rotation("ROTATION_ROLL_180_YAW_135", 180, 0, 135),
new Rotation("ROTATION_PITCH_180", 0, 180, 0),
new Rotation("ROTATION_ROLL_180_YAW_225", 180, 0, 225),
new Rotation("ROTATION_ROLL_180_YAW_270", 180, 0, 270),
new Rotation("ROTATION_ROLL_180_YAW_315", 180, 0, 315),
new Rotation("ROTATION_ROLL_90", 90, 0, 0),
new Rotation("ROTATION_ROLL_90_YAW_45", 90, 0, 45),
new Rotation("ROTATION_ROLL_90_YAW_90", 90, 0, 90),
new Rotation("ROTATION_ROLL_90_YAW_135", 90, 0, 135),
new Rotation("ROTATION_ROLL_270", 270, 0, 0),
new Rotation("ROTATION_ROLL_270_YAW_45", 270, 0, 45),
new Rotation("ROTATION_ROLL_270_YAW_90", 270, 0, 90),
new Rotation("ROTATION_ROLL_270_YAW_135", 270, 0, 135),
new Rotation("ROTATION_PITCH_90", 0, 90, 0),
new Rotation("ROTATION_PITCH_270", 0, 270, 0),
new Rotation("ROTATION_PITCH_180_YAW_90", 0, 180, 90),
new Rotation("ROTATION_PITCH_180_YAW_270", 0, 180, 270),
new Rotation("ROTATION_ROLL_90_PITCH_90", 90, 90, 0),
new Rotation("ROTATION_ROLL_180_PITCH_90", 180, 90, 0),
new Rotation("ROTATION_ROLL_270_PITCH_90", 270, 90, 0),
new Rotation("ROTATION_ROLL_90_PITCH_180", 90, 180, 0),
new Rotation("ROTATION_ROLL_270_PITCH_180", 270, 180, 0),
new Rotation("ROTATION_ROLL_90_PITCH_270", 90, 270, 0),
new Rotation("ROTATION_ROLL_180_PITCH_270", 180, 270, 0),
new Rotation("ROTATION_ROLL_270_PITCH_270", 270, 270, 0),
new Rotation("ROTATION_ROLL_90_PITCH_180_YAW_90", 90, 180, 90),
new Rotation("ROTATION_ROLL_90_YAW_270", 90, 0, 270)
};
static Vector3 mag_fixup(Vector3 mag, float AHRS_ORIENTATION, float COMPASS_ORIENT, float COMPASS_EXTERNAL)
{
//'''fixup a mag vector back to original value using AHRS and Compass orientation parameters'''
if (COMPASS_EXTERNAL == 0 && AHRS_ORIENTATION != 0)
{
//# undo any board orientation
mag = rotations[(int) AHRS_ORIENTATION].r.transposed()*mag;
}
//# undo any compass orientation
if (COMPASS_ORIENT != 0)
{
mag = rotations[(int) COMPASS_ORIENT].r.transposed()*mag;
}
return mag;
}
static void add_errors(Vector3 mag, Vector3 gyr, Vector3 last_mag, double deltat, double[] total_error,
Rotation[] rotations)
{
foreach (var i in range(len(rotations)))
{
// if (!rotations[i].is_90_degrees())
// continue;
Matrix3 r = rotations[i].r;
Matrix3 m = new Matrix3();
m.rotate(gyr*deltat);
Vector3 rmag1 = r*last_mag;
Vector3 rmag2 = r*mag;
Vector3 rmag3 = m.transposed()*rmag1;
Vector3 err = rmag3 - rmag2;
total_error[i] += err.length();
}
}
public static string magfit(string logfile)
{
//'''find best magnetometer rotation fit to a log file'''
// print("Processing log %s" % filename);
// mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps);
using (MAVLinkInterface mavint = new MAVLinkInterface())
{
try
{
mavint.BaseStream = new Comms.CommsFile();
mavint.BaseStream.PortName = logfile;
mavint.BaseStream.Open();
}
catch (Exception ex)
{
log.Error(ex);
return "";
}
mavint.logreadmode = true;
return process(mavint);
}
}
public static string magfit()
{
// give exclusive access ot this function
MainV2.comPort.giveComport = true;
// request more mag data and gyro data
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 20);
// process the data
string ans = process(MainV2.comPort);
MainV2.comPort.giveComport = false;
return ans;
}
static string process(MAVLinkInterface mavint)
{
DateTime Deadline = DateTime.Now.AddSeconds(60);
Vector3 last_mag = null;
double last_usec = 0;
double count = 0;
double[] total_error = new double[rotations.Length];
float AHRS_ORIENTATION = 0;
float COMPASS_ORIENT = 0;
float COMPASS_EXTERNAL = 0;
//# now gather all the data
while (DateTime.Now < Deadline || mavint.BaseStream.BytesToRead > 0)
{
MAVLink.MAVLinkMessage packetbytes = mavint.readPacket();
if (packetbytes.Length < 5)
continue;
object packet = packetbytes.data;
if (packet == null)
continue;
if (packet is MAVLink.mavlink_param_value_t)
{
MAVLink.mavlink_param_value_t m = (MAVLink.mavlink_param_value_t) packet;
if (str(m.param_id) == "AHRS_ORIENTATION")
AHRS_ORIENTATION = (int) (m.param_value);
if (str(m.param_id) == "COMPASS_ORIENT")
COMPASS_ORIENT = (int) (m.param_value);
if (str(m.param_id) == "COMPASS_EXTERNAL")
COMPASS_EXTERNAL = (int) (m.param_value);
}
if (packet is MAVLink.mavlink_raw_imu_t)
{
MAVLink.mavlink_raw_imu_t m = (MAVLink.mavlink_raw_imu_t) packet;
Vector3 mag = new Vector3(m.xmag, m.ymag, m.zmag);
mag = mag_fixup(mag, AHRS_ORIENTATION, COMPASS_ORIENT, COMPASS_EXTERNAL);
Vector3 gyr = new Vector3(m.xgyro, m.ygyro, m.zgyro)*0.001;
double usec = m.time_usec;
if (last_mag != null && gyr.length() > radians(5.0))
{
add_errors(mag, gyr, last_mag, (usec - last_usec)*1.0e-6, total_error, rotations);
count += 1;
}
last_mag = mag;
last_usec = usec;
}
}
int best_i = 0;
double best_err = total_error[0];
foreach (var i in range(len(rotations)))
{
Rotation r = rotations[i];
// if (!r.is_90_degrees())
// continue;
//if ( opts.verbose) {
// print("%s err=%.2f" % (r, total_error[i]/count));}
if (total_error[i] < best_err)
{
best_i = i;
best_err = total_error[i];
}
}
Rotation rans = rotations[best_i];
Console.WriteLine("Best rotation is {0} err={1} from {2} points", rans, best_err/count, count);
//print("Best rotation is %s err=%.2f from %u points" % (r, best_err/count, count));
return rans.name;
}
}
}