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Finalise Graphs

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Cal Wing 2023-11-03 09:40:27 +10:00
parent 272f32794f
commit 92b1cf195c
1 changed files with 25 additions and 18 deletions
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main.py
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@ -684,9 +684,11 @@ def generateGPSGraphs(missionData, gpsMissionData, gpsData, mission):
"title": "North Position", "title": "North Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":gpsMissionData[0][TIME_HEADER[0]], "y":gpsMissionData[0][NED_POSITION_HEADER[0]], "label":"GPS Corrected Low Grade Data", "colour":"uq:orange"},
{"x":gpsMissionData[1][TIME_HEADER[0]], "y":gpsMissionData[1][NED_POSITION_HEADER[0]], "label":"GPS Corrected High Grade Data", "colour":"uq:green"},
{"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[0]], "label":"RawGPS Data", "colour":"uq:red"}, {"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[1]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
{ {
@ -695,16 +697,22 @@ def generateGPSGraphs(missionData, gpsMissionData, gpsData, mission):
"yLabel": "East Position [m]", "yLabel": "East Position [m]",
"zLabel": "Down Position [m]", "zLabel": "Down Position [m]",
"plots": [ "plots": [
{"x":missionData[0][NED_POSITION_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "z":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":gpsMissionData[1][NED_POSITION_HEADER[0]], "y":gpsMissionData[1][NED_POSITION_HEADER[1]], "z":gpsMissionData[1][NED_POSITION_HEADER[2]], "label":"GPS Corrected High Grade Data", "colour":"uq:orange"},
{"x":gpsMissionData[0][NED_POSITION_HEADER[0]], "y":gpsMissionData[0][NED_POSITION_HEADER[1]], "z":gpsMissionData[0][NED_POSITION_HEADER[2]], "label":"GPS Corrected Low Grade Data", "colour":"uq:green"},
{"x":missionData[1][NED_POSITION_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "z":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][NED_POSITION_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "z":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][NED_POSITION_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "z":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x": gpsData[GPS_DATA_HEADER[1]], "y":gpsData[GPS_DATA_HEADER[2]], "z":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
{ {
"title": "East Position", "title": "East Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":gpsMissionData[0][TIME_HEADER[0]], "y":gpsMissionData[0][NED_POSITION_HEADER[1]], "label":"GPS Corrected Low Grade Data", "colour":"uq:orange"},
{"x":gpsMissionData[1][TIME_HEADER[0]], "y":gpsMissionData[1][NED_POSITION_HEADER[1]], "label":"GPS Corrected High Grade Data", "colour":"uq:green"},
{"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[2]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
{ {
@ -713,16 +721,20 @@ def generateGPSGraphs(missionData, gpsMissionData, gpsData, mission):
"yLabel": "East Position [m]", "yLabel": "East Position [m]",
"zLabel": "Down Position [m]", "zLabel": "Down Position [m]",
"plots": [ "plots": [
{"x":gpsMissionData[0][NED_POSITION_HEADER[0]], "y":gpsMissionData[0][NED_POSITION_HEADER[1]], "z":gpsMissionData[0][NED_POSITION_HEADER[2]], "label":"GPS Corrected Low Grade Data", "colour":"uq:green"},
{"x":missionData[0][NED_POSITION_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "z":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][NED_POSITION_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "z":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
#{"x":missionData[1][NED_POSITION_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "z":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x": gpsData[GPS_DATA_HEADER[1]], "y":gpsData[GPS_DATA_HEADER[2]], "z":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
{ {
"title": "Down Position", "title": "Down Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":gpsMissionData[0][TIME_HEADER[0]], "y":gpsMissionData[0][NED_POSITION_HEADER[2]], "label":"GPS Corrected Low Grade Data", "colour":"uq:orange"},
{"x":gpsMissionData[1][TIME_HEADER[0]], "y":gpsMissionData[1][NED_POSITION_HEADER[2]], "label":"GPS Corrected High Grade Data", "colour":"uq:green"},
{"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
{ {
@ -731,20 +743,14 @@ def generateGPSGraphs(missionData, gpsMissionData, gpsData, mission):
"yLabel": "East Position [m]", "yLabel": "East Position [m]",
"zLabel": "Down Position [m]", "zLabel": "Down Position [m]",
"plots": [ "plots": [
#{"x":missionData[0][NED_POSITION_HEADER[0]], "y":missionData[0][NED_POSITION_HEADER[1]], "z":missionData[0][NED_POSITION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":gpsMissionData[1][NED_POSITION_HEADER[0]], "y":gpsMissionData[1][NED_POSITION_HEADER[1]], "z":gpsMissionData[1][NED_POSITION_HEADER[2]], "label":"GPS Corrected High Grade Data", "colour":"uq:orange"},
{"x":missionData[1][NED_POSITION_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "z":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][NED_POSITION_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "z":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x": gpsData[GPS_DATA_HEADER[1]], "y":gpsData[GPS_DATA_HEADER[2]], "z":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"},
] ]
}, },
] ]
} }
if TRUTH_N_POS_HEADER[1] in missionData[1].columns: makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos_3d_gps_all.png")
graphData["subPlots"][0]["plots"].insert(0, {"x": missionData[1][TIME_HEADER[0]], "y":missionData[1][TRUTH_N_POS_HEADER[1]], "label":"True Position", "colour":"uq:red"})
if gpsData is not None:
graphData["subPlots"][0]["plots"].insert(0, {"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[1]], "label":"GPS Position", "colour":"uq:red"})
graphData["subPlots"][2]["plots"].insert(0, {"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[2]], "label":"GPS Position", "colour":"uq:red"})
graphData["subPlots"][4]["plots"].insert(0, {"x": gpsData[TIME_HEADER], "y":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"})
graphData["subPlots"][1]["plots"].insert(0, {"x": gpsData[GPS_DATA_HEADER[1]], "y":gpsData[GPS_DATA_HEADER[2]], "z":gpsData[GPS_DATA_HEADER[3]], "label":"GPS Position", "colour":"uq:red"})
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos_3d.png")
if __name__ == '__main__': if __name__ == '__main__':
# Task 1 - b, c, d # Task 1 - b, c, d
@ -778,21 +784,22 @@ if __name__ == '__main__':
# Task 4 # Task 4
#Load, Process & Graph Mission Data for Mission 2 #Load, Process & Graph Mission Data for Mission 2
print("\nLoading / Calculating to Mission 2 Data") print("\nLoading / Calculating to Mission 2 Data")
missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \ missionData_4 = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False) cacheData("./tmp/m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
print("Starting to Graph Mission 2") print("Starting to Graph Mission 2")
#generateGraphs(missionData, 2) #generateGraphs(missionData_4, 2)
# Task 5 # Task 5
# Calc 5hz Mission # Calc 5hz Mission
missionData = cacheData("./tmp/gps_5_m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS, m2_GPSData[0]), forceCalc=False), \ missionData = cacheData("./tmp/gps_5_m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS, m2_GPSData[0]), forceCalc=False), \
cacheData("./tmp/gps_5_m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS, m2_GPSData[0]), forceCalc=False) cacheData("./tmp/gps_5_m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS, m2_GPSData[0]), forceCalc=False)
generateGraphs(missionData, "2 - 5Hz GPS", m2_GPSData[0]) #generateGraphs(missionData, "2 - 5Hz GPS", m2_GPSData[0])
# Calc 0.5hz Mission # Calc 0.5hz Mission
missionData = cacheData("./tmp/gps_0.5_m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS, m2_GPSData[1]), forceCalc=False), \ missionData = cacheData("./tmp/gps_0.5_m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS, m2_GPSData[1]), forceCalc=False), \
cacheData("./tmp/gps_0.5_m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS, m2_GPSData[1]), forceCalc=False) cacheData("./tmp/gps_0.5_m2_H_transData.dfz", calculateVelocityPosition, (m2_IMUData[1], INIT_FLIGHT_PRAMS, m2_GPSData[1]), forceCalc=False)
generateGraphs(missionData, "2 - 0.5Hz GPS", m2_GPSData[1]) generateGPSGraphs(missionData_4, missionData, m2_GPSData[0], "2 - 0.5Hz GPS Correction & Comparison")
#generateGraphs(missionData, "2 - 0.5Hz GPS", m2_GPSData[1])