[paparazzi-commits] [4743]

[antoine drouin]

Revision: 4743
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4743
Author:   poine
Date:     2010-03-29 08:11:51 +0000 (Mon, 29 Mar 2010)
Log Message:
-----------


Removed Paths:
-------------
    paparazzi3/trunk/sw/tools/calibration/calib_baro.sce
    paparazzi3/trunk/sw/tools/calibration/calibrate_utils.sci

Deleted: paparazzi3/trunk/sw/tools/calibration/calib_baro.sce
===================================================================
--- paparazzi3/trunk/sw/tools/calibration/calib_baro.sce        2010-03-29 
08:01:43 UTC (rev 4742)
+++ paparazzi3/trunk/sw/tools/calibration/calib_baro.sce        2010-03-29 
08:11:51 UTC (rev 4743)
@@ -1,44 +0,0 @@
-clear();
-
-ac_id = 150
-test = 1;
-
-M=fscanfMat(sprintf('%d_ADC_GENERIC_%d', ac_id, test));
-
-time    = M(:,1);
-id      = M(:,2);
-off     = M(:,3);
-adc     = M(:,4);
-
-select test
-  case 1
-    t1 = find(time > 0   & time < 40);
-    t2 = find(time > 70  & time < 120);
-    t3 = find(time > 220 & time < 250);
-  case 2
-    t3 = find(time > 40  & time < 50);
-    t2 = find(time > 140 & time < 160);
-    t1 = find(time > 190 & time < 210);
-  end
-
-v1 = mean(adc(t1))
-v2 = mean(adc(t2))
-v3 = mean(adc(t3))
-
-k1 = (v1-v3)/9.
-k2 = (v1-v2)/4.5
-k3 = (v2-v3)/4.5
-
-k = (k1 + k2 + k3) / 3
-
-clf();
-
-drawlater();
-
-xtitle('X', 'time (s)','');
-plot2d(time, adc, 4);
-plot2d(time(t1), adc(t1), 1);
-plot2d(time(t2), adc(t2), 2);
-plot2d(time(t3), adc(t3), 3);
-
-drawnow();
\ No newline at end of file

Deleted: paparazzi3/trunk/sw/tools/calibration/calibrate_utils.sci
===================================================================
--- paparazzi3/trunk/sw/tools/calibration/calibrate_utils.sci   2010-03-29 
08:01:43 UTC (rev 4742)
+++ paparazzi3/trunk/sw/tools/calibration/calibrate_utils.sci   2010-03-29 
08:11:51 UTC (rev 4743)
@@ -1,152 +0,0 @@
-SENSOR_ACCEL = 0;
-SENSOR_MAG   = 1;
-SENSOR_GYRO  = 2;
-
-
-function [time, gyro_raw, turntable] = read_gyro_log(ac_id, tt_id, filename)
-  fmt_gyro = sprintf('%%f %d IMU_GYRO_RAW %%f %%f %%f', ac_id);
-  fmt_tt   = sprintf('%%f %d IMU_TURNTABLE %%f', tt_id);
-  time = [];
-  gyro_raw = [];
-  turntable = [];
-  tt = 0;
-  u=mopen(filename,'r');
-  while meof(u) == 0,
-    line = mgetl(u, 1);
-    if strindex(line, '#') ~= 1 & length(line) ~= 0,
-      [nb_scan, _time, _tt] = ...
-         msscanf(1, line, fmt_tt);
-      if nb_scan == 2
-       tt = _tt;
-      end
-      [nb_scan, _time, _rgx, _rgy, _rgz] = ...
-         msscanf(1, line, fmt_gyro);
-      if nb_scan == 4
-       time = [time _time];
-       gyro_raw = [gyro_raw [_rgx; _rgy; _rgz]];
-       turntable = [turntable tt];
-      end
-    end
-  end  
-  mclose(u);
-endfunction
-
-
-
-
-function [time, sensor_raw] = read_log_sensor_raw(ac_id, sensor_type, filename)
-
-  select sensor_type
-    case SENSOR_ACCEL
-      fmt = sprintf('%%f %d IMU_ACCEL_RAW %%f %%f %%f', ac_id);
-    case SENSOR_MAG
-      fmt = sprintf('%%f %d IMU_MAG_RAW %%f %%f %%f', ac_id);
-    case SENSOR_GYRO
-      fmt = sprintf('%%f %d IMU_GYRO_RAW %%f %%f %%f', ac_id);
-  end
-
-  printf("%s",fmt); 
-  
-  time = [];
-  sensor_raw = [];
-  u=mopen(filename,'r');
-  while meof(u) == 0,
-    line = mgetl(u, 1);
-    if strindex(line, '#') ~= 1 & length(line) ~= 0,
-      [nb_scan, _time, _rax, _ray, _raz] = ...
-         msscanf(1, line, fmt);
-      if nb_scan == 4
-       time = [time _time];
-       sensor_raw = [sensor_raw [_rax; _ray; _raz]];
-      end
-    end
-  end
-  mclose(u);
-  
-endfunction
-
-function [p] = min_max_calib(sensor_raw, ref_norm)
-  min_raw = min(sensor_raw, 'c');
-  max_raw = max(sensor_raw, 'c');
-  neutral = (min_raw + max_raw) / 2;
-  sensitivity = 2 * [ref_norm; ref_norm; ref_norm] ./ (max_raw - min_raw);
-  p = [ sensitivity; neutral ];
-endfunction
-
-function [p, err] = datafit_calib(sensor_raw, ref_norm, p0)
-  function e = err_norm(p, z)
-    g = p(1:3);
-    n = p(4:6);
-    a = g .* (z-n);
-    e = ref_norm^2 - a(1)^2 - a(2)^2 - a(3)^2;
-  endfunction  
-  [p, err] = datafit(err_norm, sensor_raw, p0, 'gc');
-endfunction
-
-
-function display_raw_sensors(time, sensor_raw)
-  plot2d([time; time; time]', sensor_raw', leg="address@hidden@Z");
-  xtitle('raw sensor');
-endfunction
-
-
-function display_calib_sensor(time, _comp, _norm, lab, ref)
-
-  subplot(2,1,1);
-  plot2d(time, ref * ones(1,length(time)));
-  plot2d(time, -ref * ones(1,length(time)));
-  plot2d(time, zeros(1,length(time)));
-  plot2d([time; time; time]', _comp', leg="address@hidden@Z");
-
-  xtitle("Components:"+lab);
-  subplot(2,1,2);
-  plot2d(time, ref * ones(1,length(time)));
-//  plot2d3(time, _norm, 2);
-  plot2d(time, _norm, 2);
-  xtitle("Norme:"+lab);
-  
-endfunction
-
-
-function [time_f, sensor_f] = filter_noisy_data(time_raw, sensor_raw, 
threshold, size_avg)
-
-  sensor_f = [];
-  time_f = [];
-  for i=size_avg+1:length(sensor_raw(1,:))-size_avg
-    s = variance(sensor_raw(:, i-size_avg:i+size_avg), 'c');
-    if norm(s) < threshold
-      sensor_f = [sensor_f sensor_raw(:,i)];
-      time_f = [time_f time(i)];
-    end
-  end
-  
-endfunction
-
-
-function [ac, gc] = apply_scaling(gain, neutral, ar)
-
-  ac = [];
-  gc = [];
-  for i=1:length(ar(1,:))
-    _ac = (ar(:,i) - neutral) .* gain;
-  ac = [ac _ac];
-  _gc = sqrt(_ac(1)^2 + _ac(2)^2 + _ac(3)^2);
-  gc = [gc _gc];
-end
-
-endfunction
-
-
-function print_xml(s_name, p, resolution)
-
-printf("\n");
-printf("<define name=""%s_X_SENS"" value=""%.8f"" integer=""16""/>\n", s_name, 
-p(1)*resolution);
-printf("<define name=""%s_Y_SENS"" value=""%.8f"" integer=""16""/>\n", s_name, 
 p(2)*resolution);
-printf("<define name=""%s_Z_SENS"" value=""%.8f"" integer=""16""/>\n", s_name, 
-p(3)*resolution);
-printf("\n");
-printf("<define name=""%s_X_NEUTRAL"" value=""%d""/>\n", s_name, round(p(4)));
-printf("<define name=""%s_Y_NEUTRAL"" value=""%d""/>\n", s_name, round(p(5)));
-printf("<define name=""%s_Z_NEUTRAL"" value=""%d""/>\n", s_name, round(p(6)));
-
-endfunction
-