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[calibration] auto noise threshold for mag

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then manual values as parameters also apply for mag
This commit is contained in:
Gautier Hattenberger
2016-12-12 15:20:56 +01:00
parent 10fc2c4cb4
commit 61977a1b95
1 changed files with 7 additions and 3 deletions
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sw/tools/calibration/calibrate.py
+7 -3
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@@ -84,7 +84,7 @@ def main():
sensor_ref = 1.
sensor_res = 11
noise_window = 10
noise_threshold = 1000
noise_threshold = options.noise_threshold
if options.verbose:
print("reading file "+filename+" for aircraft "+options.ac_id+" and sensor "+options.sensor)
@@ -108,8 +108,12 @@ def main():
neutral = scipy.mean(measurements)
# find the median of measurement vector length after subtracting approximate neutral
meas_median = scipy.median(scipy.array([scipy.linalg.norm(v - neutral) for v in measurements]))
# set noise threshold to be below 10% of that
noise_threshold = meas_median * 0.1
if options.sensor == "ACCEL":
# set noise threshold to be below 10% of that for accelerometers
noise_threshold = meas_median * 0.1
elif options.sensor == "MAG":
# set noise threshold to be below 60% of that for magnetometers
noise_threshold = meas_median * 0.6
if options.verbose:
print("Using noise threshold of", noise_threshold, "for filtering.")