Finish Tasks 1b-d,
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Cal Wing
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a2ee6af610
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97
main.py
97
main.py
@ -182,7 +182,7 @@ INIT_FLIGHT_PRAMS = {
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}
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def generateGraphs(missionData, mission):
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pBar = tqdm(total=6)
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pBar = tqdm(total=7)
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graphData = {
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"figTitle": f"Mission {mission} Flight Characteristics",
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"figTitleFontSize": 16,
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@ -227,6 +227,7 @@ def generateGraphs(missionData, mission):
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"yLabel": "Time [s]",
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"plotDim": (3,1),
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"grid": True,
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"tightLayout": True,
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"subPlots":[
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{
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"title": "North Position",
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@ -489,6 +490,91 @@ def generateGraphs(missionData, mission):
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makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars.png")
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pBar.update(1)
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graphData = {
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"figTitle": f"Mission {mission} Flight Characteristics",
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"figTitleFontSize": 16,
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"figSize": (20, 12), #Yay America, this is in inches :/ # Note: cm = 1/2.54
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"yLabel": "Time [s]",
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"plotDim": (3,3),
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"grid": True,
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"subPlots":[
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{
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"title": "Roll Rate",
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"yLabel": "Roll Rate [rad/s]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[0]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[0]], "label":"High Grade Data", "colour":"uq:blue"},
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]
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},
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{
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"title": "North Velocity",
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"yLabel": "Velocity [m/s]",
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"plots": [
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
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]
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},
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{
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"title": "North Acceleration",
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"yLabel": "Acceleration [m/s$^2$]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
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]
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},
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{
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"title": "Pitch Rate",
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"yLabel": "Pitch Rate [rad/s]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[1]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[1]], "label":"High Grade Data", "colour":"uq:blue"},
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]
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},
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{
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"title": "East Velocity",
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"yLabel": "Velocity [m/s]",
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"plots": [
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
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]
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},
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{
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"title": "East Acceleration",
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"yLabel": "Acceleration [m/s$^2$]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
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]
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},
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{
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"title": "Yaw Rate",
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"yLabel": "Yaw Rate [rad/s]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[2]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[2]], "label":"High Grade Data", "colour":"uq:blue"},\
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]
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},
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{
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"title": "Down Velocity",
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"yLabel": "Velocity [m/s]",
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"plots": [
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
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]
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},
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{
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"title": "Down Acceleration",
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"yLabel": "Acceleration [m/s$^2$]",
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"plots": [
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{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
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{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
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]
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},
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]
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}
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makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars_rpy.png")
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pBar.update(1)
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TRUTH_NPOS_DELTA_HEADER = ["Calculated vs True Position Delta [m]", "Calculated vs True Position Error [%]"]
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def doTruthComparison(missionData, truthData):
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@ -546,18 +632,21 @@ def generateTruthErrorGraphs(missionData):
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if __name__ == '__main__':
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#Load, Process & Graph Mission Data for Mission 1
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print("Loading / Calculating to Mission 1 Data")
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missionData = cacheData("./tmp/m1_L_transData.dfz", calculateVelocityPosition, (m1_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
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cacheData("./tmp/m1_H_transData.dfz", calculateVelocityPosition, (m1_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
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missionData = doTruthComparison(missionData, m1TruthData)
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print("Starting to Graph Mission 1")
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generateTruthErrorGraphs(missionData)
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generateGraphs(missionData, 1)
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exit()
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#exit()
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#Load, Process & Graph Mission Data for Mission 1
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#Load, Process & Graph Mission Data for Mission 2
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print("Loading / Calculating to Mission 2 Data")
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missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
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cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
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print("Starting to Graph Mission 2")
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generateGraphs(missionData, 2)
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print("Complete")
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@ -242,6 +242,7 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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doKeyCopy = False
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figSize = graphData["figSize"] if "figSize" in graphData else None
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tightLayout = graphData["tightLayout"] if "tightLayout" in graphData else True
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fig, axes = plt.subplots(*plotDim, figsize=figSize) # Create a figure and an axes.
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@ -285,6 +286,7 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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orig_ax = ax1
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ax1 = fig.add_subplot(orig_ax.get_position(), projection='3d')
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orig_ax.remove()
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if "tightLayout" not in graphData: tightLayout = False
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# Duct Tape
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ax = ax1
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@ -528,7 +530,8 @@ def makeGraph(graphData, showPlot=True, doProgramBlock=True, figSavePath=None, h
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fig.suptitle(graphData["figTitle"], fontsize=getSafeValue("figTitleFontSize"))
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if "title" not in graphData: fig.canvas.manager.set_window_title(graphData["figTitle"].replace("\n", " "))
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fig.tight_layout() #Fix labels being cut off sometimes
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if tightLayout:
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fig.tight_layout() #Fix labels being cut off sometimes
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#Very big hack
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if hideEmptyAxis:
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