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[tools] calibration: automatically choose noise_threshold

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This commit is contained in:
Felix Ruess
2013-08-29 15:28:33 +02:00
parent d744f8ca2c
commit e613e79fbe
1 changed files with 13 additions and 4 deletions
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sw/tools/calibration/calibrate.py
+13 -4
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@@ -20,6 +20,7 @@
# Boston, MA 02111-1307, USA. # Boston, MA 02111-1307, USA.
# #
from __future__ import print_function
import sys import sys
import os import os
@@ -66,12 +67,12 @@ def main():
sensor_ref = 9.81 sensor_ref = 9.81
sensor_res = 10 sensor_res = 10
noise_window = 20; noise_window = 20;
noise_threshold = 40; #noise_threshold = 40;
elif options.sensor == "MAG": elif options.sensor == "MAG":
sensor_ref = 1. sensor_ref = 1.
sensor_res = 11 sensor_res = 11
noise_window = 10; noise_window = 10;
noise_threshold = 1000; #noise_threshold = 1000;
if not filename.endswith(".data"): if not filename.endswith(".data"):
parser.error("Please specify a *.data log file") parser.error("Please specify a *.data log file")
@@ -86,12 +87,20 @@ def main():
if options.verbose: if options.verbose:
print("found "+str(len(measurements))+" records") print("found "+str(len(measurements))+" records")
# estimate the noise threshold
# find the median of measurement vector lenght
meas_median = scipy.median(scipy.array([scipy.linalg.norm(v) for v in measurements]))
# set noise threshold to be below 10% of that
noise_threshold = meas_median * 0.1
if options.verbose:
print("Using noise threshold of", noise_threshold, "for filtering.")
# filter out noisy measurements # filter out noisy measurements
flt_meas, flt_idx = calibration_utils.filter_meas(measurements, noise_window, noise_threshold) flt_meas, flt_idx = calibration_utils.filter_meas(measurements, noise_window, noise_threshold)
if options.verbose: if options.verbose:
print("remaining "+str(len(flt_meas))+" after low pass") print("remaining "+str(len(flt_meas))+" after filtering")
if len(flt_meas) == 0: if len(flt_meas) == 0:
print("Error: found zero IMU_"+options.sensor+"_RAW measurements for aircraft with id "+options.ac_id+" in log file after low pass!") print("Error: found zero IMU_"+options.sensor+"_RAW measurements for aircraft with id "+options.ac_id+" in log file after filtering!")
sys.exit(1) sys.exit(1)
# get an initial min/max guess # get an initial min/max guess