#! /usr/bin/env python

from __future__ import print_function

import argparse
import os
import matplotlib.pyplot as plt
import numpy as np

from pyulog import *

"""
Reads in IMU data from a static thermal calibration test and performs a curve fit of gyro, accel and baro bias vs temperature
Data can be gathered using the following sequence:

1) Set the TC_A_ENABLE, TC_B_ENABLE and TC_G_ENABLE parameters to 0 to thermal compensation and reboot
2) Perform a gyro and accel cal
2) Set the SYS_LOGGER parameter to 1 to use the new system logger
3) Set the SDLOG_MODE parameter to 3 to enable logging of sensor data for calibration and power off
4) Cold soak the board for 30 minutes
5) Move to a warm dry environment.
6) Apply power for 45 minutes, keeping the board still.
7) Remove power and extract the .ulog file
8) Open a terminal window in the script file directory
9) Run the script file 'python process_sensor_caldata.py <full path name to .ulog file>

Outputs thermal compensation parameters in a file named <inputfilename>.params which can be loaded onto the board using QGroundControl
Outputs summary plots in a pdf file named <inputfilename>.pdf

"""

parser = argparse.ArgumentParser(description='Analyse the sensor_gyro  message data')
parser.add_argument('filename', metavar='file.ulg', help='ULog input file')

def is_valid_directory(parser, arg):
    if os.path.isdir(arg):
        # Directory exists so return the directory
        return arg
    else:
        parser.error('The directory {} does not exist'.format(arg))

args = parser.parse_args()
ulog_file_name = args.filename

ulog = ULog(ulog_file_name, None)
data = ulog.data_list

# define constants
gravity = 9.80665

# extract gyro data
sensor_instance = 0
for d in data:
    if d.name == 'sensor_gyro':
        if sensor_instance == 0:
            sensor_gyro_0 = d.data
            print('found gyro 0 data')
        if sensor_instance == 1:
            sensor_gyro_1 = d.data
            print('found gyro 1 data')
        if sensor_instance == 2:
            sensor_gyro_2 = d.data
            print('found gyro 2 data')
        sensor_instance = sensor_instance +1

# extract accel data
sensor_instance = 0
for d in data:
    if d.name == 'sensor_accel':
        if sensor_instance == 0:
            sensor_accel_0 = d.data
            print('found accel 0 data')
        if sensor_instance == 1:
            sensor_accel_1 = d.data
            print('found accel 1 data')
        if sensor_instance == 2:
            sensor_accel_2 = d.data
            print('found accel 2 data')
        sensor_instance = sensor_instance +1

# extract baro data
sensor_instance = 0
for d in data:
    if d.name == 'sensor_baro':
        if sensor_instance == 0:
            sensor_baro_0 = d.data
            print('found baro 0 data')
        if sensor_instance == 1:
            sensor_baro_1 = d.data
            print('found baro 1 data')
        if sensor_instance == 2:
            sensor_baro_2 = d.data
            print('found baro 2 data')
        sensor_instance = sensor_instance +1

# open file to save plots to PDF
from matplotlib.backends.backend_pdf import PdfPages
output_plot_filename = ulog_file_name + ".pdf"
pp = PdfPages(output_plot_filename)

#################################################################################

# define data dictionary of gyro 0 thermal correction  parameters
gyro_0_params = {
'TC_G0_ID':0,
'TC_G0_TMIN':0.0,
'TC_G0_TMAX':0.0,
'TC_G0_TREF':0.0,
'TC_G0_X0_0':0.0,
'TC_G0_X1_0':0.0,
'TC_G0_X2_0':0.0,
'TC_G0_X3_0':0.0,
'TC_G0_X0_1':0.0,
'TC_G0_X1_1':0.0,
'TC_G0_X2_1':0.0,
'TC_G0_X3_1':0.0,
'TC_G0_X0_2':0.0,
'TC_G0_X1_2':0.0,
'TC_G0_X2_2':0.0,
'TC_G0_X3_2':0.0,
'TC_G0_SCL_0':1.0,
'TC_G0_SCL_1':1.0,
'TC_G0_SCL_2':1.0
}

# curve fit the data for gyro 0 corrections - note corrections have oppsite sign to sensor bias
gyro_0_params['TC_G0_ID'] = int(np.median(sensor_gyro_0['device_id']))

# find the min, max and reference temperature
gyro_0_params['TC_G0_TMIN'] = np.amin(sensor_gyro_0['temperature'])
gyro_0_params['TC_G0_TMAX'] = np.amax(sensor_gyro_0['temperature'])
gyro_0_params['TC_G0_TREF'] = 0.5 * (gyro_0_params['TC_G0_TMIN'] + gyro_0_params['TC_G0_TMAX'])
temp_rel = sensor_gyro_0['temperature'] - gyro_0_params['TC_G0_TREF']
temp_rel_resample = np.linspace(gyro_0_params['TC_G0_TMIN']-gyro_0_params['TC_G0_TREF'], gyro_0_params['TC_G0_TMAX']-gyro_0_params['TC_G0_TREF'], 100)
temp_resample = temp_rel_resample + gyro_0_params['TC_G0_TREF']

# fit X axis
coef_gyro_0_x = np.polyfit(temp_rel,-sensor_gyro_0['x'],3)
gyro_0_params['TC_G0_X3_0'] = coef_gyro_0_x[0]
gyro_0_params['TC_G0_X2_0'] = coef_gyro_0_x[1]
gyro_0_params['TC_G0_X1_0'] = coef_gyro_0_x[2]
gyro_0_params['TC_G0_X0_0'] = coef_gyro_0_x[3]
fit_coef_gyro_0_x = np.poly1d(coef_gyro_0_x)
gyro_0_x_resample = fit_coef_gyro_0_x(temp_rel_resample)

# fit Y axis
coef_gyro_0_y = np.polyfit(temp_rel,-sensor_gyro_0['y'],3)
gyro_0_params['TC_G0_X3_1'] = coef_gyro_0_y[0]
gyro_0_params['TC_G0_X2_1'] = coef_gyro_0_y[1]
gyro_0_params['TC_G0_X1_1'] = coef_gyro_0_y[2]
gyro_0_params['TC_G0_X0_1'] = coef_gyro_0_y[3]
fit_coef_gyro_0_y = np.poly1d(coef_gyro_0_y)
gyro_0_y_resample = fit_coef_gyro_0_y(temp_rel_resample)

# fit Z axis
coef_gyro_0_z = np.polyfit(temp_rel,-sensor_gyro_0['z'],3)
gyro_0_params['TC_G0_X3_2'] = coef_gyro_0_z[0]
gyro_0_params['TC_G0_X2_2'] = coef_gyro_0_z[1]
gyro_0_params['TC_G0_X1_2'] = coef_gyro_0_z[2]
gyro_0_params['TC_G0_X0_2'] = coef_gyro_0_z[3]
fit_coef_gyro_0_z = np.poly1d(coef_gyro_0_z)
gyro_0_z_resample = fit_coef_gyro_0_z(temp_rel_resample)

# gyro0 vs temperature
plt.figure(1,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['x'],'b')
plt.plot(temp_resample,-gyro_0_x_resample,'r')
plt.title('Gyro 0 Bias vs Temperature')
plt.ylabel('X bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['y'],'b')
plt.plot(temp_resample,-gyro_0_y_resample,'r')
plt.ylabel('Y bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_gyro_0['temperature'],sensor_gyro_0['z'],'b')
plt.plot(temp_resample,-gyro_0_z_resample,'r')
plt.ylabel('Z bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of gyro 1 thermal correction  parameters
gyro_1_params = {
'TC_G1_ID':0,
'TC_G1_TMIN':0.0,
'TC_G1_TMAX':0.0,
'TC_G1_TREF':0.0,
'TC_G1_X0_0':0.0,
'TC_G1_X1_0':0.0,
'TC_G1_X2_0':0.0,
'TC_G1_X3_0':0.0,
'TC_G1_X0_1':0.0,
'TC_G1_X1_1':0.0,
'TC_G1_X2_1':0.0,
'TC_G1_X3_1':0.0,
'TC_G1_X0_2':0.0,
'TC_G1_X1_2':0.0,
'TC_G1_X2_2':0.0,
'TC_G1_X3_2':0.0,
'TC_G1_SCL_0':1.0,
'TC_G1_SCL_1':1.0,
'TC_G1_SCL_2':1.0
}

# curve fit the data for gyro 1 corrections - note corrections have oppsite sign to sensor bias
gyro_1_params['TC_G1_ID'] = int(np.median(sensor_gyro_1['device_id']))

# find the min, max and reference temperature
gyro_1_params['TC_G1_TMIN'] = np.amin(sensor_gyro_1['temperature'])
gyro_1_params['TC_G1_TMAX'] = np.amax(sensor_gyro_1['temperature'])
gyro_1_params['TC_G1_TREF'] = 0.5 * (gyro_1_params['TC_G1_TMIN'] + gyro_1_params['TC_G1_TMAX'])
temp_rel = sensor_gyro_1['temperature'] - gyro_1_params['TC_G1_TREF']
temp_rel_resample = np.linspace(gyro_1_params['TC_G1_TMIN']-gyro_1_params['TC_G1_TREF'], gyro_1_params['TC_G1_TMAX']-gyro_1_params['TC_G1_TREF'], 100)
temp_resample = temp_rel_resample + gyro_1_params['TC_G1_TREF']

# fit X axis
coef_gyro_1_x = np.polyfit(temp_rel,-sensor_gyro_1['x'],3)
gyro_1_params['TC_G1_X3_0'] = coef_gyro_1_x[0]
gyro_1_params['TC_G1_X2_0'] = coef_gyro_1_x[1]
gyro_1_params['TC_G1_X1_0'] = coef_gyro_1_x[2]
gyro_1_params['TC_G1_X0_0'] = coef_gyro_1_x[3]
fit_coef_gyro_1_x = np.poly1d(coef_gyro_1_x)
gyro_1_x_resample = fit_coef_gyro_1_x(temp_rel_resample)

# fit Y axis
coef_gyro_1_y = np.polyfit(temp_rel,-sensor_gyro_1['y'],3)
gyro_1_params['TC_G1_X3_1'] = coef_gyro_1_y[0]
gyro_1_params['TC_G1_X2_1'] = coef_gyro_1_y[1]
gyro_1_params['TC_G1_X1_1'] = coef_gyro_1_y[2]
gyro_1_params['TC_G1_X0_1'] = coef_gyro_1_y[3]
fit_coef_gyro_1_y = np.poly1d(coef_gyro_1_y)
gyro_1_y_resample = fit_coef_gyro_1_y(temp_rel_resample)

# fit Z axis
coef_gyro_1_z = np.polyfit(temp_rel,-sensor_gyro_1['z'],3)
gyro_1_params['TC_G1_X3_2'] = coef_gyro_1_z[0]
gyro_1_params['TC_G1_X2_2'] = coef_gyro_1_z[1]
gyro_1_params['TC_G1_X1_2'] = coef_gyro_1_z[2]
gyro_1_params['TC_G1_X0_2'] = coef_gyro_1_z[3]
fit_coef_gyro_1_z = np.poly1d(coef_gyro_1_z)
gyro_1_z_resample = fit_coef_gyro_1_z(temp_rel_resample)

# gyro1 vs temperature
plt.figure(2,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['x'],'b')
plt.plot(temp_resample,-gyro_1_x_resample,'r')
plt.title('Gyro 1 Bias vs Temperature')
plt.ylabel('X bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['y'],'b')
plt.plot(temp_resample,-gyro_1_y_resample,'r')
plt.ylabel('Y bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_gyro_1['temperature'],sensor_gyro_1['z'],'b')
plt.plot(temp_resample,-gyro_1_z_resample,'r')
plt.ylabel('Z bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of gyro 2 thermal correction  parameters
gyro_2_params = {
'TC_G2_ID':0,
'TC_G2_TMIN':0.0,
'TC_G2_TMAX':0.0,
'TC_G2_TREF':0.0,
'TC_G2_X0_0':0.0,
'TC_G2_X1_0':0.0,
'TC_G2_X2_0':0.0,
'TC_G2_X3_0':0.0,
'TC_G2_X0_1':0.0,
'TC_G2_X1_1':0.0,
'TC_G2_X2_1':0.0,
'TC_G2_X3_1':0.0,
'TC_G2_X0_2':0.0,
'TC_G2_X1_2':0.0,
'TC_G2_X2_2':0.0,
'TC_G2_X3_2':0.0,
'TC_G2_SCL_0':1.0,
'TC_G2_SCL_1':1.0,
'TC_G2_SCL_2':1.0
}

# curve fit the data for gyro 2 corrections - note corrections have oppsite sign to sensor bias
gyro_2_params['TC_G2_ID'] = int(np.median(sensor_gyro_2['device_id']))

# find the min, max and reference temperature
gyro_2_params['TC_G2_TMIN'] = np.amin(sensor_gyro_2['temperature'])
gyro_2_params['TC_G2_TMAX'] = np.amax(sensor_gyro_2['temperature'])
gyro_2_params['TC_G2_TREF'] = 0.5 * (gyro_2_params['TC_G2_TMIN'] + gyro_2_params['TC_G2_TMAX'])
temp_rel = sensor_gyro_2['temperature'] - gyro_2_params['TC_G2_TREF']
temp_rel_resample = np.linspace(gyro_2_params['TC_G2_TMIN']-gyro_2_params['TC_G2_TREF'], gyro_2_params['TC_G2_TMAX']-gyro_2_params['TC_G2_TREF'], 100)
temp_resample = temp_rel_resample + gyro_2_params['TC_G2_TREF']

# fit X axis
coef_gyro_2_x = np.polyfit(temp_rel,-sensor_gyro_2['x'],3)
gyro_2_params['TC_G2_X3_0'] = coef_gyro_2_x[0]
gyro_2_params['TC_G2_X2_0'] = coef_gyro_2_x[1]
gyro_2_params['TC_G2_X1_0'] = coef_gyro_2_x[2]
gyro_2_params['TC_G2_X0_0'] = coef_gyro_2_x[3]
fit_coef_gyro_2_x = np.poly1d(coef_gyro_2_x)
gyro_2_x_resample = fit_coef_gyro_2_x(temp_rel_resample)

# fit Y axis
coef_gyro_2_y = np.polyfit(temp_rel,-sensor_gyro_2['y'],3)
gyro_2_params['TC_G2_X3_1'] = coef_gyro_2_y[0]
gyro_2_params['TC_G2_X2_1'] = coef_gyro_2_y[1]
gyro_2_params['TC_G2_X1_1'] = coef_gyro_2_y[2]
gyro_2_params['TC_G2_X0_1'] = coef_gyro_2_y[3]
fit_coef_gyro_2_y = np.poly1d(coef_gyro_2_y)
gyro_2_y_resample = fit_coef_gyro_2_y(temp_rel_resample)

# fit Z axis
coef_gyro_2_z = np.polyfit(temp_rel,-sensor_gyro_2['z'],3)
gyro_2_params['TC_G2_X3_2'] = coef_gyro_2_z[0]
gyro_2_params['TC_G2_X2_2'] = coef_gyro_2_z[1]
gyro_2_params['TC_G2_X1_2'] = coef_gyro_2_z[2]
gyro_2_params['TC_G2_X0_2'] = coef_gyro_2_z[3]
fit_coef_gyro_2_z = np.poly1d(coef_gyro_2_z)
gyro_2_z_resample = fit_coef_gyro_2_z(temp_rel_resample)

# gyro2 vs temperature
plt.figure(3,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['x'],'b')
plt.plot(temp_resample,-gyro_2_x_resample,'r')
plt.title('Gyro 2 Bias vs Temperature')
plt.ylabel('X bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['y'],'b')
plt.plot(temp_resample,-gyro_2_y_resample,'r')
plt.ylabel('Y bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_gyro_2['temperature'],sensor_gyro_2['z'],'b')
plt.plot(temp_resample,-gyro_2_z_resample,'r')
plt.ylabel('Z bias (rad/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of accel 0 thermal correction  parameters
accel_0_params = {
'TC_A0_ID':0,
'TC_A0_TMIN':0.0,
'TC_A0_TMAX':0.0,
'TC_A0_TREF':0.0,
'TC_A0_X0_0':0.0,
'TC_A0_X1_0':0.0,
'TC_A0_X2_0':0.0,
'TC_A0_X3_0':0.0,
'TC_A0_X0_1':0.0,
'TC_A0_X1_1':0.0,
'TC_A0_X2_1':0.0,
'TC_A0_X3_1':0.0,
'TC_A0_X0_2':0.0,
'TC_A0_X1_2':0.0,
'TC_A0_X2_2':0.0,
'TC_A0_X3_2':0.0,
'TC_A0_SCL_0':1.0,
'TC_A0_SCL_1':1.0,
'TC_A0_SCL_2':1.0
}

# curve fit the data for accel 0 corrections - note corrections have oppsite sign to sensor bias
accel_0_params['TC_A0_ID'] = int(np.median(sensor_accel_0['device_id']))

# find the min, max and reference temperature
accel_0_params['TC_A0_TMIN'] = np.amin(sensor_accel_0['temperature'])
accel_0_params['TC_A0_TMAX'] = np.amax(sensor_accel_0['temperature'])
accel_0_params['TC_A0_TREF'] = 0.5 * (accel_0_params['TC_A0_TMIN'] + accel_0_params['TC_A0_TMAX'])
temp_rel = sensor_accel_0['temperature'] - accel_0_params['TC_A0_TREF']
temp_rel_resample = np.linspace(accel_0_params['TC_A0_TMIN']-accel_0_params['TC_A0_TREF'], accel_0_params['TC_A0_TMAX']-accel_0_params['TC_A0_TREF'], 100)
temp_resample = temp_rel_resample + accel_0_params['TC_A0_TREF']

# fit X axis
correction_x = np.median(sensor_accel_0['x'])-sensor_accel_0['x']
coef_accel_0_x = np.polyfit(temp_rel,correction_x,3)
accel_0_params['TC_A0_X3_0'] = coef_accel_0_x[0]
accel_0_params['TC_A0_X2_0'] = coef_accel_0_x[1]
accel_0_params['TC_A0_X1_0'] = coef_accel_0_x[2]
accel_0_params['TC_A0_X0_0'] = coef_accel_0_x[3]
fit_coef_accel_0_x = np.poly1d(coef_accel_0_x)
correction_x_resample = fit_coef_accel_0_x(temp_rel_resample)

# fit Y axis
correction_y = np.median(sensor_accel_0['y'])-sensor_accel_0['y']
coef_accel_0_y = np.polyfit(temp_rel,correction_y,3)
accel_0_params['TC_A0_X3_1'] = coef_accel_0_y[0]
accel_0_params['TC_A0_X2_1'] = coef_accel_0_y[1]
accel_0_params['TC_A0_X1_1'] = coef_accel_0_y[2]
accel_0_params['TC_A0_X0_1'] = coef_accel_0_y[3]
fit_coef_accel_0_y = np.poly1d(coef_accel_0_y)
correction_y_resample = fit_coef_accel_0_y(temp_rel_resample)

# fit Z axis
correction_z = np.median(sensor_accel_0['z'])-sensor_accel_0['z']
coef_accel_0_z = np.polyfit(temp_rel,correction_z,3)
accel_0_params['TC_A0_X3_2'] = coef_accel_0_z[0]
accel_0_params['TC_A0_X2_2'] = coef_accel_0_z[1]
accel_0_params['TC_A0_X1_2'] = coef_accel_0_z[2]
accel_0_params['TC_A0_X0_2'] = coef_accel_0_z[3]
fit_coef_accel_0_z = np.poly1d(coef_accel_0_z)
correction_z_resample = fit_coef_accel_0_z(temp_rel_resample)

# accel 0 vs temperature
plt.figure(4,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_accel_0['temperature'],-correction_x,'b')
plt.plot(temp_resample,-correction_x_resample,'r')
plt.title('Accel 0 Bias vs Temperature')
plt.ylabel('X bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_accel_0['temperature'],-correction_y,'b')
plt.plot(temp_resample,-correction_y_resample,'r')
plt.ylabel('Y bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_accel_0['temperature'],-correction_z,'b')
plt.plot(temp_resample,-correction_z_resample,'r')
plt.ylabel('Z bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of accel 1 thermal correction  parameters
accel_1_params = {
'TC_A1_ID':0,
'TC_A1_TMIN':0.0,
'TC_A1_TMAX':0.0,
'TC_A1_TREF':0.0,
'TC_A1_X0_0':0.0,
'TC_A1_X1_0':0.0,
'TC_A1_X2_0':0.0,
'TC_A1_X3_0':0.0,
'TC_A1_X0_1':0.0,
'TC_A1_X1_1':0.0,
'TC_A1_X2_1':0.0,
'TC_A1_X3_1':0.0,
'TC_A1_X0_2':0.0,
'TC_A1_X1_2':0.0,
'TC_A1_X2_2':0.0,
'TC_A1_X3_2':0.0,
'TC_A1_SCL_0':1.0,
'TC_A1_SCL_1':1.0,
'TC_A1_SCL_2':1.0
}

# curve fit the data for accel 1 corrections - note corrections have oppsite sign to sensor bias
accel_1_params['TC_A1_ID'] = int(np.median(sensor_accel_1['device_id']))

# find the min, max and reference temperature
accel_1_params['TC_A1_TMIN'] = np.amin(sensor_accel_1['temperature'])
accel_1_params['TC_A1_TMAX'] = np.amax(sensor_accel_1['temperature'])
accel_1_params['TC_A1_TREF'] = 0.5 * (accel_1_params['TC_A1_TMIN'] + accel_1_params['TC_A1_TMAX'])
temp_rel = sensor_accel_1['temperature'] - accel_1_params['TC_A1_TREF']
temp_rel_resample = np.linspace(accel_1_params['TC_A1_TMIN']-accel_1_params['TC_A1_TREF'], accel_1_params['TC_A1_TMAX']-accel_1_params['TC_A1_TREF'], 100)
temp_resample = temp_rel_resample + accel_1_params['TC_A1_TREF']

# fit X axis
correction_x = np.median(sensor_accel_1['x'])-sensor_accel_1['x']
coef_accel_1_x = np.polyfit(temp_rel,correction_x,3)
accel_1_params['TC_A1_X3_0'] = coef_accel_1_x[0]
accel_1_params['TC_A1_X2_0'] = coef_accel_1_x[1]
accel_1_params['TC_A1_X1_0'] = coef_accel_1_x[2]
accel_1_params['TC_A1_X0_0'] = coef_accel_1_x[3]
fit_coef_accel_1_x = np.poly1d(coef_accel_1_x)
correction_x_resample = fit_coef_accel_1_x(temp_rel_resample)

# fit Y axis
correction_y = np.median(sensor_accel_1['y'])-sensor_accel_1['y']
coef_accel_1_y = np.polyfit(temp_rel,correction_y,3)
accel_1_params['TC_A1_X3_1'] = coef_accel_1_y[0]
accel_1_params['TC_A1_X2_1'] = coef_accel_1_y[1]
accel_1_params['TC_A1_X1_1'] = coef_accel_1_y[2]
accel_1_params['TC_A1_X0_1'] = coef_accel_1_y[3]
fit_coef_accel_1_y = np.poly1d(coef_accel_1_y)
correction_y_resample = fit_coef_accel_1_y(temp_rel_resample)

# fit Z axis
correction_z = np.median(sensor_accel_1['z'])-(sensor_accel_1['z'])
coef_accel_1_z = np.polyfit(temp_rel,correction_z,3)
accel_1_params['TC_A1_X3_2'] = coef_accel_1_z[0]
accel_1_params['TC_A1_X2_2'] = coef_accel_1_z[1]
accel_1_params['TC_A1_X1_2'] = coef_accel_1_z[2]
accel_1_params['TC_A1_X0_2'] = coef_accel_1_z[3]
fit_coef_accel_1_z = np.poly1d(coef_accel_1_z)
correction_z_resample = fit_coef_accel_1_z(temp_rel_resample)

# accel 1 vs temperature
plt.figure(5,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_accel_1['temperature'],-correction_x,'b')
plt.plot(temp_resample,-correction_x_resample,'r')
plt.title('Accel 1 Bias vs Temperature')
plt.ylabel('X bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_accel_1['temperature'],-correction_y,'b')
plt.plot(temp_resample,-correction_y_resample,'r')
plt.ylabel('Y bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_accel_1['temperature'],-correction_z,'b')
plt.plot(temp_resample,-correction_z_resample,'r')
plt.ylabel('Z bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of accel 2 thermal correction  parameters
accel_2_params = {
'TC_A2_ID':0,
'TC_A2_TMIN':0.0,
'TC_A2_TMAX':0.0,
'TC_A2_TREF':0.0,
'TC_A2_X0_0':0.0,
'TC_A2_X1_0':0.0,
'TC_A2_X2_0':0.0,
'TC_A2_X3_0':0.0,
'TC_A2_X0_1':0.0,
'TC_A2_X1_1':0.0,
'TC_A2_X2_1':0.0,
'TC_A2_X3_1':0.0,
'TC_A2_X0_2':0.0,
'TC_A2_X1_2':0.0,
'TC_A2_X2_2':0.0,
'TC_A2_X3_2':0.0,
'TC_A2_SCL_0':1.0,
'TC_A2_SCL_1':1.0,
'TC_A2_SCL_2':1.0
}

# curve fit the data for accel 2 corrections - note corrections have oppsite sign to sensor bias
accel_2_params['TC_A2_ID'] = int(np.median(sensor_accel_2['device_id']))

# find the min, max and reference temperature
accel_2_params['TC_A2_TMIN'] = np.amin(sensor_accel_2['temperature'])
accel_2_params['TC_A2_TMAX'] = np.amax(sensor_accel_2['temperature'])
accel_2_params['TC_A2_TREF'] = 0.5 * (accel_2_params['TC_A2_TMIN'] + accel_2_params['TC_A2_TMAX'])
temp_rel = sensor_accel_2['temperature'] - accel_2_params['TC_A2_TREF']
temp_rel_resample = np.linspace(accel_2_params['TC_A2_TMIN']-accel_2_params['TC_A2_TREF'], accel_2_params['TC_A2_TMAX']-accel_2_params['TC_A2_TREF'], 100)
temp_resample = temp_rel_resample + accel_2_params['TC_A2_TREF']

# fit X axis
correction_x = np.median(sensor_accel_2['x'])-sensor_accel_2['x']
coef_accel_2_x = np.polyfit(temp_rel,correction_x,3)
accel_2_params['TC_A2_X3_0'] = coef_accel_2_x[0]
accel_2_params['TC_A2_X2_0'] = coef_accel_2_x[1]
accel_2_params['TC_A2_X1_0'] = coef_accel_2_x[2]
accel_2_params['TC_A2_X0_0'] = coef_accel_2_x[3]
fit_coef_accel_2_x = np.poly1d(coef_accel_2_x)
correction_x_resample = fit_coef_accel_2_x(temp_rel_resample)

# fit Y axis
correction_y = np.median(sensor_accel_2['y'])-sensor_accel_2['y']
coef_accel_2_y = np.polyfit(temp_rel,correction_y,3)
accel_2_params['TC_A2_X3_1'] = coef_accel_2_y[0]
accel_2_params['TC_A2_X2_1'] = coef_accel_2_y[1]
accel_2_params['TC_A2_X1_1'] = coef_accel_2_y[2]
accel_2_params['TC_A2_X0_1'] = coef_accel_2_y[3]
fit_coef_accel_2_y = np.poly1d(coef_accel_2_y)
correction_y_resample = fit_coef_accel_2_y(temp_rel_resample)

# fit Z axis
correction_z = np.median(sensor_accel_2['z'])-sensor_accel_2['z']
coef_accel_2_z = np.polyfit(temp_rel,correction_z,3)
accel_2_params['TC_A2_X3_2'] = coef_accel_2_z[0]
accel_2_params['TC_A2_X2_2'] = coef_accel_2_z[1]
accel_2_params['TC_A2_X1_2'] = coef_accel_2_z[2]
accel_2_params['TC_A2_X0_2'] = coef_accel_2_z[3]
fit_coef_accel_2_z = np.poly1d(coef_accel_2_z)
correction_z_resample = fit_coef_accel_2_z(temp_rel_resample)

# accel 2 vs temperature
plt.figure(6,figsize=(20,13))

# draw plots
plt.subplot(3,1,1)
plt.plot(sensor_accel_2['temperature'],-correction_x,'b')
plt.plot(temp_resample,-correction_x_resample,'r')
plt.title('Accel 2 Bias vs Temperature')
plt.ylabel('X bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,2)
plt.plot(sensor_accel_2['temperature'],-correction_y,'b')
plt.plot(temp_resample,-correction_y_resample,'r')
plt.ylabel('Y bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

# draw plots
plt.subplot(3,1,3)
plt.plot(sensor_accel_2['temperature'],-correction_z,'b')
plt.plot(temp_resample,-correction_z_resample,'r')
plt.ylabel('Z bias (m/s/s)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

#################################################################################

# define data dictionary of baro 0 thermal correction  parameters
baro_0_params = {
'TC_B0_ID':0,
'TC_B0_TMIN':0.0,
'TC_B0_TMAX':0.0,
'TC_B0_TREF':0.0,
'TC_B0_X0':0.0,
'TC_B0_X1':0.0,
'TC_B0_X2':0.0,
'TC_B0_X3':0.0,
'TC_B0_X4':0.0,
'TC_B0_X5':0.0,
'TC_B0_SCL':1.0,
}

# curve fit the data for baro 0 corrections - note corrections have oppsite sign to sensor bias
baro_0_params['TC_B0_ID'] = int(np.median(sensor_baro_0['device_id']))

# find the min, max and reference temperature
baro_0_params['TC_B0_TMIN'] = np.amin(sensor_baro_0['temperature'])
baro_0_params['TC_B0_TMAX'] = np.amax(sensor_baro_0['temperature'])
baro_0_params['TC_B0_TREF'] = 0.5 * (baro_0_params['TC_B0_TMIN'] + baro_0_params['TC_B0_TMAX'])
temp_rel = sensor_baro_0['temperature'] - baro_0_params['TC_B0_TREF']
temp_rel_resample = np.linspace(baro_0_params['TC_B0_TMIN']-baro_0_params['TC_B0_TREF'], baro_0_params['TC_B0_TMAX']-baro_0_params['TC_B0_TREF'], 100)
temp_resample = temp_rel_resample + baro_0_params['TC_B0_TREF']

# fit data
median_pressure =100*np.median(sensor_baro_0['pressure']);
coef_baro_0_x = np.polyfit(temp_rel,median_pressure-100*sensor_baro_0['pressure'],5) # convert from hPa to Pa
baro_0_params['TC_B0_X5'] = coef_baro_0_x[0]
baro_0_params['TC_B0_X4'] = coef_baro_0_x[1]
baro_0_params['TC_B0_X3'] = coef_baro_0_x[2]
baro_0_params['TC_B0_X2'] = coef_baro_0_x[3]
baro_0_params['TC_B0_X1'] = coef_baro_0_x[4]
baro_0_params['TC_B0_X0'] = coef_baro_0_x[5]
fit_coef_baro_0_x = np.poly1d(coef_baro_0_x)
baro_0_x_resample = fit_coef_baro_0_x(temp_rel_resample)

# baro 0 vs temperature
plt.figure(7,figsize=(20,13))

# draw plots
plt.plot(sensor_baro_0['temperature'],100*sensor_baro_0['pressure']-median_pressure,'b')
plt.plot(temp_resample,-baro_0_x_resample,'r')
plt.title('Baro 0 Bias vs Temperature')
plt.ylabel('X bias (Pa)')
plt.xlabel('temperature (degC)')
plt.grid()

pp.savefig()

#################################################################################

# close the pdf file
pp.close()

# clase all figures
plt.close("all")

# write correction parameters to file
test_results_filename = ulog_file_name + ".params"
file = open(test_results_filename,"w")
file.write("# Sensor thermal compensation parameters\n")
file.write("#\n")
file.write("# Vehicle-Id Component-Id Name Value Type\n")

# accel 0 corrections
key_list_accel = list(accel_0_params.keys())
key_list_accel.sort
for key in key_list_accel:
    if key == 'TC_A0_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(accel_0_params[key])+"\t"+type+"\n")

# accel 1 corrections
key_list_accel = list(accel_1_params.keys())
key_list_accel.sort
for key in key_list_accel:
    if key == 'TC_A1_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(accel_1_params[key])+"\t"+type+"\n")

# accel 2 corrections
key_list_accel = list(accel_2_params.keys())
key_list_accel.sort
for key in key_list_accel:
    if key == 'TC_A2_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(accel_2_params[key])+"\t"+type+"\n")

# baro 0 corrections
key_list_accel = list(baro_0_params.keys())
key_list_accel.sort
for key in key_list_accel:
    if key == 'TC_B0_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(baro_0_params[key])+"\t"+type+"\n")

# gyro 0 corrections
key_list_gyro = list(gyro_0_params.keys())
key_list_gyro.sort()
for key in key_list_gyro:
    if key == 'TC_G0_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(gyro_0_params[key])+"\t"+type+"\n")

# gyro 1 corrections
key_list_gyro = list(gyro_1_params.keys())
key_list_gyro.sort()
for key in key_list_gyro:
    if key == 'TC_G1_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(gyro_1_params[key])+"\t"+type+"\n")

# gyro 2 corrections
key_list_gyro = list(gyro_2_params.keys())
key_list_gyro.sort()
for key in key_list_gyro:
    if key == 'TC_G2_ID':
        type = "6"
    else:
        type = "9"
    file.write("1"+"\t"+"1"+"\t"+key+"\t"+str(gyro_2_params[key])+"\t"+type+"\n")

file.close()

print('Correction parameters written to ' + test_results_filename)
print('Plots saved to ' + output_plot_filename)