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Quick refactor and load GPS data

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This commit is contained in:
Cal Wing 2023-11-02 21:03:30 +10:00
parent 7e38a29bd7
commit d79ff282be
1 changed files with 108 additions and 96 deletions
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202
main.py
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@ -68,6 +68,11 @@ def cacheData(dataFilePath: str, calcFunction: callable = lambda x: x, args: tup
return data return data
GRAVITY_VEC = np.array([0, 0, 9.81]) GRAVITY_VEC = np.array([0, 0, 9.81])
INIT_FLIGHT_PRAMS = {
"position": np.array([10, 10, -50]),
"velocity": np.array([0, 0, 0]),
"attitude": np.array([0, 0, 0])
}
# IMU Data Loading # IMU Data Loading
# I map in to a heading to add units / make things make more sense # I map in to a heading to add units / make things make more sense
@ -79,10 +84,10 @@ GRAVITY_VEC = np.array([0, 0, 9.81])
# - FSP_X (in m/s^2) - the specific force in the body-fixed x-direction # - FSP_X (in m/s^2) - the specific force in the body-fixed x-direction
# - FSP_Y (in m/s^2) - the specific force in the body-fixed y-direction # - FSP_Y (in m/s^2) - the specific force in the body-fixed y-direction
# - FSP_Z (in m/s^2) - the specific force in the body-fixed z-direction # - FSP_Z (in m/s^2) - the specific force in the body-fixed z-direction
IMU_TIME_HEADER = ["Time [s]"] TIME_HEADER = ["Time [s]"]
IMU_WBE_HEADERS = ["WBE_1 [rad/s]", "WBE_2 [rad/s]", "WBE_3 [rad/s]"] # Roll, Pitch, Yaw - Rate IMU_WBE_HEADERS = ["WBE_1 [rad/s]", "WBE_2 [rad/s]", "WBE_3 [rad/s]"] # Roll, Pitch, Yaw - Rate
IMU_FSP_HEADERS = ["FSP_X [m/s^2]", "FSP_Y [m/s^2]", "FSP_Z [m/s^2]"] # Specific Force X, Y , Z IMU_FSP_HEADERS = ["FSP_X [m/s^2]", "FSP_Y [m/s^2]", "FSP_Z [m/s^2]"] # Specific Force X, Y , Z
IMU_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + IMU_FSP_HEADERS IMU_DATA_HEADER = TIME_HEADER + IMU_WBE_HEADERS + IMU_FSP_HEADERS
def importIMUData(mission, imu): def importIMUData(mission, imu):
# If IMU is not a string, then convert based on bool eval where "H" == True # If IMU is not a string, then convert based on bool eval where "H" == True
if type(imu) != str: imu = "H" if imu else "L" if type(imu) != str: imu = "H" if imu else "L"
@ -111,6 +116,18 @@ m1TruthData = pd.read_csv(
header=None, skiprows=1, header=None, skiprows=1,
names=TRUTH_FSP_X_HEADER, names=TRUTH_FSP_X_HEADER,
) )
# Load the GPS Data
GPS_NED_POS_HEADER = ["GPS Position N [m]", "GPS Position E [m]", "GPS Position D [m]"]
GPS_DATA_HEADER = TIME_HEADER + GPS_NED_POS_HEADER
m2_GPSData = pd.read_csv(
f"./data/GPS_5_Hz_IMU_M2.txt",
header=None, skiprows=1,
names=GPS_DATA_HEADER,
), pd.read_csv(
f"./data/GPS_0.5_Hz_IMU_M2.txt",
header=None, skiprows=1,
names=GPS_DATA_HEADER,
)
# Load the Mission Data # Load the Mission Data
m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data m1_IMUData = importIMUData(1, 0), importIMUData(1, 1) #(L, H) Data
m2_IMUData = importIMUData(2, 0), importIMUData(2, 1) m2_IMUData = importIMUData(2, 0), importIMUData(2, 1)
@ -147,7 +164,7 @@ def calc_NED_acceleration(NEDAttitude, specificForces):
NED_ACCELERATION_HEADER = ["Acceleration N [m/s^2]", "Acceleration E [m/s^2]", "Acceleration D [m/s^2]"] NED_ACCELERATION_HEADER = ["Acceleration N [m/s^2]", "Acceleration E [m/s^2]", "Acceleration D [m/s^2]"]
NED_VELOCITY_HEADER = ["Velocity N [m/s]", "Velocity E [m/s]", "Velocity D [m/s]"] NED_VELOCITY_HEADER = ["Velocity N [m/s]", "Velocity E [m/s]", "Velocity D [m/s]"]
NED_POSITION_HEADER = ["Position N [m]", "Position E [m]", "Position D [m]"] NED_POSITION_HEADER = ["Position N [m]", "Position E [m]", "Position D [m]"]
TRANS_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + NED_ACCELERATION_HEADER + NED_VELOCITY_HEADER + NED_POSITION_HEADER TRANS_DATA_HEADER = TIME_HEADER + IMU_WBE_HEADERS + NED_ACCELERATION_HEADER + NED_VELOCITY_HEADER + NED_POSITION_HEADER
def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame: def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
print("Translating Motion & Calculating Resulting Forces") print("Translating Motion & Calculating Resulting Forces")
@ -156,7 +173,7 @@ def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER, dtype=float) translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER, dtype=float)
for i in tqdm(range(len(missionData))): for i in tqdm(range(len(missionData))):
mData = lambda header, j=i: missionData.loc[j, header].values mData = lambda header, j=i: missionData.loc[j, header].values
dt = mData(IMU_TIME_HEADER, i)[0] - mData(IMU_TIME_HEADER, i-1)[0] if i > 0 else mData(IMU_TIME_HEADER, i+1)[0] - mData(IMU_TIME_HEADER, i)[0] dt = mData(TIME_HEADER, i)[0] - mData(TIME_HEADER, i-1)[0] if i > 0 else mData(TIME_HEADER, i+1)[0] - mData(TIME_HEADER, i)[0]
# Get the time point data # Get the time point data
dataPoint = missionData.loc[i, IMU_WBE_HEADERS] dataPoint = missionData.loc[i, IMU_WBE_HEADERS]
@ -172,7 +189,7 @@ def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
offset["velocity"] = NED_velocity offset["velocity"] = NED_velocity
offset["position"] = NED_position offset["position"] = NED_position
translatedData.loc[i, IMU_TIME_HEADER] = mData(IMU_TIME_HEADER) translatedData.loc[i, TIME_HEADER] = mData(TIME_HEADER)
translatedData.loc[i, IMU_WBE_HEADERS] = NED_attitude_rate translatedData.loc[i, IMU_WBE_HEADERS] = NED_attitude_rate
translatedData.loc[i, NED_ACCELERATION_HEADER] = NED_acceleration translatedData.loc[i, NED_ACCELERATION_HEADER] = NED_acceleration
translatedData.loc[i, NED_VELOCITY_HEADER] = NED_velocity translatedData.loc[i, NED_VELOCITY_HEADER] = NED_velocity
@ -180,12 +197,6 @@ def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
return translatedData return translatedData
INIT_FLIGHT_PRAMS = {
"position": np.array([10, 10, -50]),
"velocity": np.array([0, 0, 0]),
"attitude": np.array([0, 0, 0])
}
def generateGraphs(missionData, mission): def generateGraphs(missionData, mission):
pBar = tqdm(total=7) pBar = tqdm(total=7)
graphData = { graphData = {
@ -200,24 +211,24 @@ def generateGraphs(missionData, mission):
"title": "Roll Rate", "title": "Roll Rate",
"yLabel": "Roll Rate [rad/s]", "yLabel": "Roll Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[0]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Pitch Rate", "title": "Pitch Rate",
"yLabel": "Pitch Rate [rad/s]", "yLabel": "Pitch Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[1]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Yaw Rate", "title": "Yaw Rate",
"yLabel": "Yaw Rate [rad/s]", "yLabel": "Yaw Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[2]], "label":"High Grade Data", "colour":"uq:blue"},\ {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[2]], "label":"High Grade Data", "colour":"uq:blue"},\
] ]
}, },
] ]
@ -238,30 +249,30 @@ def generateGraphs(missionData, mission):
"title": "North Position", "title": "North Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_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][IMU_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"},
] ]
}, },
{ {
"title": "East Position", "title": "East Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
{ {
"title": "Down Position", "title": "Down Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
] ]
} }
if TRUTH_N_POS_HEADER[1] in missionData[1].columns: if TRUTH_N_POS_HEADER[1] in missionData[1].columns:
graphData["subPlots"][0]["plots"].insert(0, {"x": missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][TRUTH_N_POS_HEADER[1]], "label":"True Position", "colour":"uq:red"}) 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"})
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos.png") makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos.png")
pBar.update(1) pBar.update(1)
@ -277,8 +288,8 @@ def generateGraphs(missionData, mission):
"title": "North Position", "title": "North Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_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][IMU_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"},
] ]
}, },
{ {
@ -295,8 +306,8 @@ def generateGraphs(missionData, mission):
"title": "East Position", "title": "East Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
{ {
@ -313,8 +324,8 @@ def generateGraphs(missionData, mission):
"title": "Down Position", "title": "Down Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
{ {
@ -330,7 +341,7 @@ def generateGraphs(missionData, mission):
] ]
} }
if TRUTH_N_POS_HEADER[1] in missionData[1].columns: if TRUTH_N_POS_HEADER[1] in missionData[1].columns:
graphData["subPlots"][0]["plots"].insert(0, {"x": missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][TRUTH_N_POS_HEADER[1]], "label":"True Position", "colour":"uq:red"}) 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"})
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos_3d.png") makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos_3d.png")
pBar.update(1) pBar.update(1)
@ -346,24 +357,24 @@ def generateGraphs(missionData, mission):
"title": "North Velocity", "title": "North Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "East Velocity", "title": "East Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "Down Velocity", "title": "Down Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
] ]
@ -383,24 +394,24 @@ def generateGraphs(missionData, mission):
"title": "North Acceleration", "title": "North Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "East Acceleration", "title": "East Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Down Acceleration", "title": "Down Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
] ]
@ -420,78 +431,78 @@ def generateGraphs(missionData, mission):
"title": "North Position", "title": "North Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_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][IMU_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"},
] ]
}, },
{ {
"title": "North Velocity", "title": "North Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "North Acceleration", "title": "North Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "East Position", "title": "East Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
{ {
"title": "East Velocity", "title": "East Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "East Acceleration", "title": "East Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Down Position", "title": "Down Position",
"yLabel": "Position [m]", "yLabel": "Position [m]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_POSITION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_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"},
] ]
}, },
{ {
"title": "Down Velocity", "title": "Down Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "Down Acceleration", "title": "Down Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
] ]
} }
if TRUTH_N_POS_HEADER[1] in missionData[1].columns: if TRUTH_N_POS_HEADER[1] in missionData[1].columns:
graphData["subPlots"][0]["plots"].insert(0, {"x": missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][TRUTH_N_POS_HEADER[1]], "label":"True Position", "colour":"uq:red"}) 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"})
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars.png") makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars.png")
pBar.update(1) pBar.update(1)
@ -507,72 +518,72 @@ def generateGraphs(missionData, mission):
"title": "Roll Rate", "title": "Roll Rate",
"yLabel": "Roll Rate [rad/s]", "yLabel": "Roll Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[0]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "North Velocity", "title": "North Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "North Acceleration", "title": "North Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Pitch Rate", "title": "Pitch Rate",
"yLabel": "Pitch Rate [rad/s]", "yLabel": "Pitch Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[1]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "East Velocity", "title": "East Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "East Acceleration", "title": "East Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
{ {
"title": "Yaw Rate", "title": "Yaw Rate",
"yLabel": "Yaw Rate [rad/s]", "yLabel": "Yaw Rate [rad/s]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][IMU_WBE_HEADERS[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[2]], "label":"High Grade Data", "colour":"uq:blue"},\ {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][IMU_WBE_HEADERS[2]], "label":"High Grade Data", "colour":"uq:blue"},\
] ]
}, },
{ {
"title": "Down Velocity", "title": "Down Velocity",
"yLabel": "Velocity [m/s]", "yLabel": "Velocity [m/s]",
"plots": [ "plots": [
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_VELOCITY_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_VELOCITY_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
] ]
}, },
{ {
"title": "Down Acceleration", "title": "Down Acceleration",
"yLabel": "Acceleration [m/s$^2$]", "yLabel": "Acceleration [m/s$^2$]",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"}, {"x":missionData[0][TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"}, {"x":missionData[1][TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
] ]
}, },
] ]
@ -580,7 +591,6 @@ def generateGraphs(missionData, mission):
makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars_rpy.png") makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_chars_rpy.png")
pBar.update(1) pBar.update(1)
TRUTH_NPOS_DELTA_HEADER = ["Calculated vs True Position Delta [m]", "Calculated vs True Position Error [%]"] TRUTH_NPOS_DELTA_HEADER = ["Calculated vs True Position Delta [m]", "Calculated vs True Position Error [%]"]
def doTruthComparison(missionData, truthData): def doTruthComparison(missionData, truthData):
for i, mData in enumerate(missionData): for i, mData in enumerate(missionData):
@ -597,34 +607,34 @@ def generateTruthErrorGraphs(missionData):
#print(missionData[0][[IMU_TIME_HEADER[0]] + [NED_POSITION_HEADER[0]] + [TRUTH_N_POS_HEADER[1]] + [TRUTH_NPOS_DELTA_HEADER[0]]]) #print(missionData[0][[IMU_TIME_HEADER[0]] + [NED_POSITION_HEADER[0]] + [TRUTH_N_POS_HEADER[1]] + [TRUTH_NPOS_DELTA_HEADER[0]]])
poly_low = np.polyfit(missionData[0][IMU_TIME_HEADER[0]], missionData[0][TRUTH_NPOS_DELTA_HEADER[0]], 2) poly_low = np.polyfit(missionData[0][TIME_HEADER[0]], missionData[0][TRUTH_NPOS_DELTA_HEADER[0]], 2)
poly_high = np.polyfit(missionData[1][IMU_TIME_HEADER[0]], missionData[1][TRUTH_NPOS_DELTA_HEADER[0]], 2) poly_high = np.polyfit(missionData[1][TIME_HEADER[0]], missionData[1][TRUTH_NPOS_DELTA_HEADER[0]], 2)
graphData = { graphData = {
"grid": True, "grid": True,
"xLabel": "Time [s]", "xLabel": "Time [s]",
"yLabel": "Position Delta [m]", "yLabel": "Position Delta [m]",
"title": "Calculated vs True North Position Delta", "title": "Calculated vs True North Position Delta",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": missionData[0][TRUTH_NPOS_DELTA_HEADER[0]], "label": "Low Grade IMU Error"}, {"x":missionData[0][TIME_HEADER[0]], "y": missionData[0][TRUTH_NPOS_DELTA_HEADER[0]], "label": "Low Grade IMU Error"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": missionData[1][TRUTH_NPOS_DELTA_HEADER[0]], "label": "High Grade IMU Error"}, {"x":missionData[1][TIME_HEADER[0]], "y": missionData[1][TRUTH_NPOS_DELTA_HEADER[0]], "label": "High Grade IMU Error"},
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.polyval(poly_low, missionData[0][IMU_TIME_HEADER[0]]), "label": "Low Grade Best Fit Curve"}, {"x":missionData[0][TIME_HEADER[0]], "y": np.polyval(poly_low, missionData[0][TIME_HEADER[0]]), "label": "Low Grade Best Fit Curve"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.polyval(poly_high, missionData[1][IMU_TIME_HEADER[0]]), "label": "High Grade Best Fit Curve"}, {"x":missionData[1][TIME_HEADER[0]], "y": np.polyval(poly_high, missionData[1][TIME_HEADER[0]]), "label": "High Grade Best Fit Curve"},
] ]
} }
makeGraph(graphData, False, False, figSavePath="./images/m1_error_delta.png") makeGraph(graphData, False, False, figSavePath="./images/m1_error_delta.png")
poly_low_perc = np.polyfit(missionData[0][IMU_TIME_HEADER[0]], missionData[0][TRUTH_NPOS_DELTA_HEADER[1]], 2) poly_low_perc = np.polyfit(missionData[0][TIME_HEADER[0]], missionData[0][TRUTH_NPOS_DELTA_HEADER[1]], 2)
poly_high_perc = np.polyfit(missionData[1][IMU_TIME_HEADER[0]], missionData[1][TRUTH_NPOS_DELTA_HEADER[1]], 2) poly_high_perc = np.polyfit(missionData[1][TIME_HEADER[0]], missionData[1][TRUTH_NPOS_DELTA_HEADER[1]], 2)
graphData = { graphData = {
"grid": True, "grid": True,
"xLabel": "Time [s]", "xLabel": "Time [s]",
"yLabel": "Position Error [%]", "yLabel": "Position Error [%]",
"title": "Calculated vs True North Position Error", "title": "Calculated vs True North Position Error",
"plots": [ "plots": [
{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.abs(missionData[0][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "Low Grade IMU Error"}, {"x":missionData[0][TIME_HEADER[0]], "y": np.abs(missionData[0][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "Low Grade IMU Error"},
{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.abs(missionData[1][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "High Grade IMU Error"}, {"x":missionData[1][TIME_HEADER[0]], "y": np.abs(missionData[1][TRUTH_NPOS_DELTA_HEADER[1]]), "label": "High Grade IMU Error"},
#{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.polyval(poly_low_perc, missionData[0][IMU_TIME_HEADER[0]]), "label": "Low Grade Best Fit Curve"}, #{"x":missionData[0][IMU_TIME_HEADER[0]], "y": np.polyval(poly_low_perc, missionData[0][IMU_TIME_HEADER[0]]), "label": "Low Grade Best Fit Curve"},
#{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.polyval(poly_high_perc, missionData[1][IMU_TIME_HEADER[0]]), "label": "High Grade Best Fit Curve"}, #{"x":missionData[1][IMU_TIME_HEADER[0]], "y": np.polyval(poly_high_perc, missionData[1][IMU_TIME_HEADER[0]]), "label": "High Grade Best Fit Curve"},
@ -655,10 +665,10 @@ if __name__ == '__main__':
print(f"{'High' if i else 'Low'} Grade Error Poly:" + string[2:]) print(f"{'High' if i else 'Low'} Grade Error Poly:" + string[2:])
# Task 3 # Task 3
t_15_data = m1TruthData[0][IMU_TIME_HEADER + [TRUTH_N_POS_HEADER[1]]].iloc[(m1TruthData[0][IMU_TIME_HEADER[0]]-15).abs().argsort()[:1]].values, \ t_15_data = m1TruthData[0][TIME_HEADER + [TRUTH_N_POS_HEADER[1]]].iloc[(m1TruthData[0][TIME_HEADER[0]]-15).abs().argsort()[:1]].values, \
m1TruthData[2][IMU_TIME_HEADER + [TRUTH_FSP_X_HEADER[1]]].iloc[(m1TruthData[2][IMU_TIME_HEADER[0]]-15).abs().argsort()[:1]].values m1TruthData[2][TIME_HEADER + [TRUTH_FSP_X_HEADER[1]]].iloc[(m1TruthData[2][TIME_HEADER[0]]-15).abs().argsort()[:1]].values
t_15_data = pd.DataFrame({ t_15_data = pd.DataFrame({
IMU_TIME_HEADER[0] : [t_15_data[0][0][0]], TIME_HEADER[0] : [t_15_data[0][0][0]],
TRUTH_N_POS_HEADER[1] : [t_15_data[0][0][1]], TRUTH_N_POS_HEADER[1] : [t_15_data[0][0][1]],
TRUTH_FSP_X_HEADER[1] : [t_15_data[1][0][1]] TRUTH_FSP_X_HEADER[1] : [t_15_data[1][0][1]]
}) })
@ -670,7 +680,9 @@ if __name__ == '__main__':
missionData = cacheData("./tmp/m2_L_transData.dfz", calculateVelocityPosition, (m2_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \ missionData = 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, 2)
# Task 5