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sensors: move mag aggregation to new VehicleMagnetometer WorkItem

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- purge all reminaing magnetometer IOCTL usage
 - mag calibration add off diagonal (soft iron) scale factors
This commit is contained in:
Daniel Agar
2020-08-16 21:56:15 -04:00
parent ad148af2fd
commit 971b1e4b4d
72 changed files with 870 additions and 1134 deletions
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10
Tools/ecl_ekf/plotting/pdf_report.py
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@@ -46,10 +46,10 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
raise PreconditionError('could not find innovation data')
try:
sensor_preflight = ulog.get_dataset('sensor_preflight').data
sensor_preflight_imu = ulog.get_dataset('sensor_preflight_imu').data
print('found sensor_preflight data')
except:
raise PreconditionError('could not find sensor_preflight data')
raise PreconditionError('could not find sensor_preflight_imu data')
control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
@@ -61,10 +61,10 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
with PdfPages(output_plot_filename) as pdf_pages:
# plot IMU consistency data
if ('accel_inconsistency_m_s_s' in sensor_preflight.keys()) and (
'gyro_inconsistency_rad_s' in sensor_preflight.keys()):
if ('accel_inconsistency_m_s_s' in sensor_preflight_imu.keys()) and (
'gyro_inconsistency_rad_s' in sensor_preflight_imu.keys()):
data_plot = TimeSeriesPlot(
sensor_preflight, [['accel_inconsistency_m_s_s'], ['gyro_inconsistency_rad_s']],
sensor_preflight_imu, [['accel_inconsistency_m_s_s'], ['gyro_inconsistency_rad_s']],
x_labels=['data index', 'data index'],
y_labels=['acceleration (m/s/s)', 'angular rate (rad/s)'],
plot_title='IMU Consistency Check Levels', pdf_handle=pdf_pages)