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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-25 10:40:36 +08:00
change python script to calculate right params
This commit is contained in:
baumanta
@@ -9,7 +9,7 @@ Github: https://github.com/baumanta
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Description:
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Computes linear coefficients for mag compensation from thrust and current
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Usage:
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python mag_compensation.py /path/to/log/logfile.ulg
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python mag_compensation.py /path/to/log/logfile.ulg current --instance 1
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Remark:
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If your logfile does not contain some of the topics, e.g.battery_status/current_a
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@@ -24,19 +24,26 @@ from pyulog.px4 import PX4ULog
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from pylab import *
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import numpy as np
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import textwrap as tw
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import sys
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import argparse
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#arguments
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arguments = len(sys.argv) - 1
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if arguments < 1:
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print("Give logfile name as argument")
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sys.exit(-1)
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log_name = sys.argv[1]
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parser = argparse.ArgumentParser(description='Calculate compensation parameters from ulog')
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parser.add_argument('logfile', type=str, nargs='?', default=[],
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help='full path to ulog file')
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parser.add_argument('type', type=str, nargs='?', choices=['current', 'thrust'], default=[],
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help='Power signal used for compensation, supported is "current" or "thrust".')
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parser.add_argument('--instance', type=int, nargs='?', default=0,
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help='instance of the current or thrust signal to use (0 or 1)')
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args = parser.parse_args()
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log_name = args.logfile
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comp_type = args.type
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comp_instance = args.instance
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#Load the log data (produced by pyulog)
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log = ULog(log_name)
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pxlog = PX4ULog(log);
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pxlog = PX4ULog(log)
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def get_data(topic_name, variable_name, index):
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try:
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@@ -46,7 +53,7 @@ def get_data(topic_name, variable_name, index):
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return []
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def ms2s_list(time_ms_list):
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if(len(time_ms_list) > 0):
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if len(time_ms_list) > 0:
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return 1e-6 * time_ms_list
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else:
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return time_ms_list
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@@ -55,12 +62,26 @@ def ms2s_list(time_ms_list):
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armed = get_data('vehicle_status', 'arming_state', 0)
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t_armed = ms2s_list(get_data('vehicle_status', 'timestamp', 0))
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thrust_z = get_data('vehicle_rates_setpoint', 'thrust_body[2]', 0)
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t_thrust = ms2s_list(get_data('vehicle_rates_setpoint', 'timestamp', 0))
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if comp_type == "thrust":
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power = get_data('vehicle_rates_setpoint', 'thrust_body[2]', comp_instance)
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power_t = ms2s_list(get_data('vehicle_rates_setpoint', 'timestamp', comp_instance))
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comp_type_param = 1
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factor = 1
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unit = "[G]"
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elif comp_type == "current":
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power = get_data('battery_status', 'current_a', comp_instance)
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power = np.true_divide(power, 1000) #kA
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power_t = ms2s_list(get_data('battery_status', 'timestamp', comp_instance))
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comp_type_param = 2 + comp_instance
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factor = -1
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unit = "[G/kA]"
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else:
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print("unknown compensation type {}. Supported is either 'thrust' or 'current'.".format(comp_type))
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sys.exit(1)
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current = get_data('battery_status', 'current_a', 0)
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current = np.true_divide(current, 1000) #kA
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t_current = ms2s_list(get_data('battery_status', 'timestamp', 0))
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if len(power) == 0:
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print("could not retrieve power signal from log, zero data points")
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sys.exit(1)
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mag0X_body = get_data('sensor_mag', 'x', 0)
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mag0Y_body = get_data('sensor_mag', 'y', 0)
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@@ -166,131 +187,86 @@ for idx in range(n_mag):
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#resample data
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thrust_resampled = []
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current_resampled = []
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power_resampled = []
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for idx in range(n_mag):
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thrust_resampled.append(interp(t_mag[idx], t_thrust, thrust_z))
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current_resampled.append(np.interp(t_mag[idx], t_current, current))
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power_resampled.append(interp(t_mag[idx], power_t, power))
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#fit linear to get coefficients
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px_th = []
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py_th = []
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pz_th = []
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px_curr = []
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py_curr = []
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pz_curr = []
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px = []
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py = []
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pz = []
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for idx in range(n_mag):
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px_th_temp, res_x_th, _, _, _ = polyfit(thrust_resampled[idx], magX_body[idx], 1,full = True)
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py_th_temp, res_y_th, _, _, _ = polyfit(thrust_resampled[idx], magY_body[idx], 1,full = True)
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pz_th_temp, res_z_th, _, _, _ = polyfit(thrust_resampled[idx], magZ_body[idx], 1, full = True)
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px_temp, res_x, _, _, _ = polyfit(power_resampled[idx], magX_body[idx], 1,full = True)
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py_temp, res_y, _, _, _ = polyfit(power_resampled[idx], magY_body[idx], 1,full = True)
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pz_temp, res_z, _, _, _ = polyfit(power_resampled[idx], magZ_body[idx], 1, full = True)
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px_curr_temp, res_x_curr, _, _, _ = polyfit(current_resampled[idx], magX_body[idx], 1,full = True)
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py_curr_temp, res_y_curr, _, _, _ = polyfit(current_resampled[idx], magY_body[idx], 1,full = True)
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pz_curr_temp, res_z_curr, _, _, _ = polyfit(current_resampled[idx], magZ_body[idx], 1, full = True)
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px_th.append(px_th_temp)
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py_th.append(py_th_temp)
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pz_th.append(pz_th_temp)
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px_curr.append(px_curr_temp)
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py_curr.append(py_curr_temp)
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pz_curr.append(pz_curr_temp)
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px.append(px_temp)
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py.append(py_temp)
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pz.append(pz_temp)
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#print to console
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for idx in range(n_mag):
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print('Mag{} device ID {} (calibration instance {})'.format(idx, mag_id[idx], calibration_instance[idx]))
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print('\033[91m \nthrust-based compensation: \033[0m')
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print('\nparam set CAL_MAG_COMP_TYP 1')
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print('\033[91m \n{}-based compensation: \033[0m'.format(comp_type))
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print('\nparam set CAL_MAG_COMP_TYP {}'.format(comp_type_param))
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for idx in range(n_mag):
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print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], px_th[idx][0]))
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print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], py_th[idx][0]))
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print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], pz_th[idx][0]))
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print('\n\033[91mcurrent-based compensation: \033[0m')
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print('\nparam set CAL_MAG_COMP_TYP 2')
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for idx in range(n_mag):
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print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], -px_curr[idx][0]))
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print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], -py_curr[idx][0]))
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print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], -pz_curr[idx][0]))
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print('\nparam set CAL_MAG{}_XCOMP {:.3f}'.format(calibration_instance[idx], factor * px[idx][0]))
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print('param set CAL_MAG{}_YCOMP {:.3f}'.format(calibration_instance[idx], factor * py[idx][0]))
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print('param set CAL_MAG{}_ZCOMP {:.3f}'.format(calibration_instance[idx], factor * pz[idx][0]))
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#plot data
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for idx in range(n_mag):
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fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k')
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fig.suptitle('Thrust and Current Compensation Parameter Fit \n{} \nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold')
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fig.suptitle('Compensation Parameter Fit \n{} \nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold')
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plt.subplot(2,3,1)
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plt.plot(current_resampled[idx], magX_body[idx], 'yo', current_resampled[idx], px_curr[idx][0]*current_resampled[idx]+px_curr[idx][1], '--k')
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plt.subplot(1,3,1)
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plt.plot(power_resampled[idx], magX_body[idx], 'yo', power_resampled[idx], px[idx][0]*power_resampled[idx]+px[idx][1], '--k')
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plt.xlabel('current [kA]')
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plt.ylabel('mag X [G]')
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plt.subplot(2,3,2)
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plt.plot(current_resampled[idx], magY_body[idx], 'yo', current_resampled[idx], py_curr[idx][0]*current_resampled[idx]+py_curr[idx][1], '--k')
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plt.subplot(1,3,2)
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plt.plot(power_resampled[idx], magY_body[idx], 'yo', power_resampled[idx], py[idx][0]*power_resampled[idx]+py[idx][1], '--k')
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plt.xlabel('current [kA]')
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plt.ylabel('mag Y [G]')
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plt.subplot(2,3,3)
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plt.plot(current_resampled[idx], magZ_body[idx], 'yo', current_resampled[idx], pz_curr[idx][0]*current_resampled[idx]+pz_curr[idx][1], '--k')
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plt.subplot(1,3,3)
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plt.plot(power_resampled[idx], magZ_body[idx], 'yo', power_resampled[idx], pz[idx][0]*power_resampled[idx]+pz[idx][1], '--k')
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plt.xlabel('current [kA]')
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plt.ylabel('mag Z [G]')
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plt.subplot(2,3,4)
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plt.plot(thrust_resampled[idx], magX_body[idx], 'yo', thrust_resampled[idx], px_th[idx][0]*thrust_resampled[idx]+px_th[idx][1], '--k')
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plt.xlabel('thrust []')
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plt.ylabel('mag X [G]')
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plt.subplot(2,3,5)
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plt.plot(thrust_resampled[idx], magY_body[idx], 'yo', thrust_resampled[idx], py_th[idx][0]*thrust_resampled[idx]+py_th[idx][1], '--k')
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plt.xlabel('thrust []')
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plt.ylabel('mag Y [G]')
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plt.subplot(2,3,6)
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plt.plot(thrust_resampled[idx], magZ_body[idx], 'yo', thrust_resampled[idx], pz_th[idx][0]*thrust_resampled[idx]+pz_th[idx][1], '--k')
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plt.xlabel('thrust []')
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plt.ylabel('mag Z [G]')
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# display results
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plt.figtext(0.24, 0.03, 'Thrust CAL_MAG{}_XCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_XCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],px_th[idx][0],calibration_instance[idx],-px_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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plt.figtext(0.51, 0.03, 'Thrust CAL_MAG{}_YCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_YCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],py_th[idx][0],calibration_instance[idx], -py_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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plt.figtext(0.79, 0.03, ' Thrust CAL_MAG{}_ZCOMP: {:.3f}[G] \nCurrent CAL_MAG{}_ZCOMP: {:.3f}[G/kA]'.format(calibration_instance[idx],pz_th[idx][0], calibration_instance[idx],-pz_curr[idx][0]), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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plt.figtext(0.24, 0.03, 'CAL_MAG{}_XCOMP: {:.3f} {}'.format(calibration_instance[idx],factor * px[idx][0],unit), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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plt.figtext(0.51, 0.03, 'CAL_MAG{}_YCOMP: {:.3f} {}'.format(calibration_instance[idx],factor * py[idx][0],unit), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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plt.figtext(0.79, 0.03, 'CAL_MAG{}_ZCOMP: {:.3f} {}'.format(calibration_instance[idx],factor * pz[idx][0],unit), horizontalalignment='center', fontsize=12, multialignment='left', bbox=dict(boxstyle="round", facecolor='#D8D8D8', ec="0.5", pad=0.5, alpha=1), fontweight='bold')
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#compensation comparison plots
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for idx in range(n_mag):
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fig = plt.figure(num=None, figsize=(25, 14), dpi=80, facecolor='w', edgecolor='k')
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fig.suptitle('Thrust vs. Current Compensation \n{}\nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold')
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fig.suptitle('Original Data vs. Compensation \n{}\nmag {} ID: {} (calibration instance {})'.format(log_name, idx, mag_id[idx], calibration_instance[idx]), fontsize=14, fontweight='bold')
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plt.subplot(3,1,1)
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original_x, = plt.plot(t_mag[idx], magX_body[idx], label='original')
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current_x, = plt.plot(t_mag[idx],magX_body[idx] - px_curr[idx][0] * current_resampled[idx], label='current compensated')
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thrust_x, = plt.plot(t_mag[idx],magX_body[idx] - px_th[idx][0] * thrust_resampled[idx], label='thrust compensated')
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plt.legend(handles=[original_x, current_x, thrust_x])
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power_x, = plt.plot(t_mag[idx],magX_body[idx] - px[idx][0] * power_resampled[idx], label='compensated')
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plt.legend(handles=[original_x, power_x])
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plt.xlabel('Time [s]')
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plt.ylabel('Max X corrected[G]')
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plt.ylabel('Mag X corrected[G]')
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plt.subplot(3,1,2)
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original_y, = plt.plot(t_mag[idx], magY_body[idx], label='original')
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current_y, = plt.plot(t_mag[idx],magY_body[idx] - py_curr[idx][0] * current_resampled[idx], label='current compensated')
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thrust_y, = plt.plot(t_mag[idx],magY_body[idx] - py_th[idx][0] * thrust_resampled[idx], label='thrust compensated')
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plt.legend(handles=[original_y, current_y, thrust_y])
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power_y, = plt.plot(t_mag[idx],magY_body[idx] - py[idx][0] * power_resampled[idx], label='compensated')
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plt.legend(handles=[original_y, power_y])
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plt.xlabel('Time [s]')
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plt.ylabel('Max Y corrected[G]')
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plt.ylabel('Mag Y corrected[G]')
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plt.subplot(3,1,3)
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original_z, = plt.plot(t_mag[idx], magZ_body[idx], label='original')
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current_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_curr[idx][0] * current_resampled[idx], label='current compensated')
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thrust_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz_th[idx][0] * thrust_resampled[idx], label='thrust compensated')
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plt.legend(handles=[original_z, current_z, thrust_z])
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power_z, = plt.plot(t_mag[idx],magZ_body[idx] - pz[idx][0] * power_resampled[idx], label='compensated')
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plt.legend(handles=[original_z, power_z])
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plt.xlabel('Time [s]')
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plt.ylabel('Max Z corrected[G]')
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plt.ylabel('Mag Z corrected[G]')
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plt.show()
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