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MagCalib.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.IO;
using System.Collections;
using netDxf;
using netDxf.Entities;
using netDxf.Tables;
using netDxf.Header;
using System.Reflection;
using log4net;
using MissionPlanner.HIL;
using MissionPlanner.Controls;
using MissionPlanner.Utilities;
namespace MissionPlanner
{
public class MagCalib
{
private static readonly ILog log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
const float rad2deg = (float) (180/Math.PI);
const float deg2rad = (float) (1.0/rad2deg);
static double error = 99;
static double error2 = 99;
static double error3 = 99;
static double[] ans;
static double[] ans2;
static double[] ans3;
static string GetColour(int pitch, int yaw)
{
// yaw doesnt matter with these 2
if (pitch == 0)
return "DarkBlue";
if (pitch == 180)
return "Yellow";
// select hemisphere
if (pitch < 90)
{
if (yaw < 90 || yaw > 270)
return "DarkBlue-Red";
if (yaw < 180)
return "DarkBlue-Blue";
if (yaw < 270)
return "DarkBlue-Pink";
}
else
{
if (yaw < 90 || yaw > 270)
return "Yellow-Green";
if (yaw < 180)
return "Yellow-Blue";
if (yaw < 270)
return "Yellow-Pink";
}
return "";
}
/*
* // pitch, yaw
// 0 , 0 is directly up dark blue axis
// 60, 360 is red and blue
// 60, 180 is dark blue and blue
// 90, 180 is light blue axis
// 90, 90 green axis
// 90, 270 pink axis
// 90, 360 red axis
// 180, 0 yellow axis
0,0,
0,120,
0,240,
0,360,
60,0,
60,120,
60,240,
60,360,
120,0,
120,120,
120,240,
120,360,
180,0,
180,120,
180,240,
180,360,
*/
/// <summary>
/// Self contained process tlog and save/display offsets
/// </summary>
public static void ProcessLog(int throttleThreshold = 0)
{
using (OpenFileDialog openFileDialog1 = new OpenFileDialog())
{
openFileDialog1.Filter = "Log Files|*.tlog;*.log";
openFileDialog1.FilterIndex = 2;
openFileDialog1.RestoreDirectory = true;
openFileDialog1.Multiselect = true;
try
{
openFileDialog1.InitialDirectory = Settings.Instance.LogDir + Path.DirectorySeparatorChar;
}
catch
{
} // incase dir doesnt exist
if (openFileDialog1.ShowDialog() == DialogResult.OK)
{
try
{
double[] ans;
if (openFileDialog1.FileName.ToLower().EndsWith("tlog"))
{
ans = getOffsets(openFileDialog1.FileName, throttleThreshold);
}
else
{
ans = getOffsetsLog(openFileDialog1.FileName);
}
if (ans.Length != 1)
SaveOffsets(ans);
}
catch (Exception ex)
{
log.Debug(ex.ToString());
}
}
}
}
public static void DoGUIMagCalib(bool dointro = true)
{
ans = null;
filtercompass1.Clear();
datacompass1.Clear();
datacompass2.Clear();
filtercompass2.Clear();
filtercompass3.Clear();
datacompass3.Clear();
error = 99;
error2 = 99;
error3 = 99;
if (dointro)
CustomMessageBox.Show(Strings.MagCalibMsg);
ProgressReporterSphere prd = new ProgressReporterSphere();
prd.btnCancel.Text = "Done";
Utilities.ThemeManager.ApplyThemeTo(prd);
prd.DoWork += prd_DoWork;
prd.RunBackgroundOperationAsync();
if (ans != null)
MagCalib.SaveOffsets(ans);
if (ans2 != null)
MagCalib.SaveOffsets2(ans2);
if (ans3 != null)
MagCalib.SaveOffsets3(ans3);
}
// filter data points to only x number per quadrant
static int div = 20;
static Hashtable filtercompass1 = new Hashtable();
static Hashtable filtercompass2 = new Hashtable();
static Hashtable filtercompass3 = new Hashtable();
// list of x,y,z 's
static List<Tuple<float, float, float>> datacompass1 = new List<Tuple<float, float, float>>();
// list no 2
static List<Tuple<float, float, float>> datacompass2 = new List<Tuple<float, float, float>>();
static List<Tuple<float, float, float>> datacompass3 = new List<Tuple<float, float, float>>();
static bool ReceviedPacket(byte[] rawpacket)
{
if (rawpacket[5] == (byte) MAVLink.MAVLINK_MSG_ID.SCALED_IMU2)
{
MAVLink.mavlink_scaled_imu2_t packet = rawpacket.ByteArrayToStructure<MAVLink.mavlink_scaled_imu2_t>();
// filter dataset
string item = (int) (packet.xmag/div) + "," +
(int) (packet.ymag/div) + "," +
(int) (packet.zmag/div);
if (filtercompass2.ContainsKey(item))
{
filtercompass2[item] = (int) filtercompass2[item] + 1;
if ((int) filtercompass2[item] > 3)
return false;
}
else
{
filtercompass2[item] = 1;
}
// values - offsets are 0
float rawmx = packet.xmag;
float rawmy = packet.ymag;
float rawmz = packet.zmag;
// add data
lock (datacompass2)
{
if (rawmx == 0 || rawmy == 0 || rawmz == 0)
return true;
datacompass2.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
}
return true;
}
else if (rawpacket[5] == (byte) MAVLink.MAVLINK_MSG_ID.SCALED_IMU3)
{
MAVLink.mavlink_scaled_imu3_t packet = rawpacket.ByteArrayToStructure<MAVLink.mavlink_scaled_imu3_t>();
// filter dataset
string item = (int) (packet.xmag/div) + "," +
(int) (packet.ymag/div) + "," +
(int) (packet.zmag/div);
if (filtercompass3.ContainsKey(item))
{
filtercompass3[item] = (int) filtercompass3[item] + 1;
if ((int) filtercompass3[item] > 3)
return false;
}
else
{
filtercompass3[item] = 1;
}
// values - offsets are 0
float rawmx = packet.xmag;
float rawmy = packet.ymag;
float rawmz = packet.zmag;
// add data
lock (datacompass3)
{
if (rawmx == 0 || rawmy == 0 || rawmz == 0)
return true;
datacompass3.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
}
return true;
}
else if (rawpacket[5] == (byte) MAVLink.MAVLINK_MSG_ID.RAW_IMU)
{
MAVLink.mavlink_raw_imu_t packet = rawpacket.ByteArrayToStructure<MAVLink.mavlink_raw_imu_t>();
if (packet.xmag == 0 && packet.ymag == 0)
return false;
// filter dataset
string item = (int) (packet.xmag/div) + "," +
(int) (packet.ymag/div) + "," +
(int) (packet.zmag/div);
if (filtercompass1.ContainsKey(item))
{
filtercompass1[item] = (int) filtercompass1[item] + 1;
if ((int) filtercompass1[item] > 3)
return false;
}
else
{
filtercompass1[item] = 1;
}
// values
float rawmx = packet.xmag - (float) MainV2.comPort.MAV.cs.mag_ofs_x;
float rawmy = packet.ymag - (float) MainV2.comPort.MAV.cs.mag_ofs_y;
float rawmz = packet.zmag - (float) MainV2.comPort.MAV.cs.mag_ofs_z;
// add data
lock (datacompass1)
{
datacompass1.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
}
return true;
}
return true;
}
static void prd_DoWork(object sender, ProgressWorkerEventArgs e, object passdata = null)
{
// turn learning off
MainV2.comPort.setParam("COMPASS_LEARN", 0);
bool havecompass2 = false;
bool havecompass3 = false;
//compass2 get mag2 offsets
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS2_X"))
{
MainV2.comPort.setParam("COMPASS_OFS2_X", 0, true);
MainV2.comPort.setParam("COMPASS_OFS2_Y", 0, true);
MainV2.comPort.setParam("COMPASS_OFS2_Z", 0, true);
havecompass2 = true;
}
//compass3
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS3_X"))
{
MainV2.comPort.setParam("COMPASS_OFS3_X", 0, true);
MainV2.comPort.setParam("COMPASS_OFS3_Y", 0, true);
MainV2.comPort.setParam("COMPASS_OFS3_Z", 0, true);
havecompass3 = true;
}
int hittarget = 14; // int.Parse(File.ReadAllText("magtarget.txt"));
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// backup current rate and set
byte backupratesens = MainV2.comPort.MAV.cs.ratesensors;
byte backuprateatt = MainV2.comPort.MAV.cs.rateattitude;
byte backupratepos = MainV2.comPort.MAV.cs.rateposition;
MainV2.comPort.MAV.cs.ratesensors = 2;
MainV2.comPort.MAV.cs.rateattitude = 0;
MainV2.comPort.MAV.cs.rateposition = 0;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, 0);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 50);
// subscribe to data packets
var sub = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.RAW_IMU, ReceviedPacket);
var sub2 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SCALED_IMU2, ReceviedPacket);
var sub3 = MainV2.comPort.SubscribeToPacketType(MAVLink.MAVLINK_MSG_ID.SCALED_IMU3, ReceviedPacket);
string extramsg = "";
// clear any old data
((ProgressReporterSphere) sender).sphere1.Clear();
((ProgressReporterSphere) sender).sphere2.Clear();
((ProgressReporterSphere) sender).sphere3.Clear();
// keep track of data count and last lsq run
int lastcount = 0;
DateTime lastlsq = DateTime.MinValue;
DateTime lastlsq2 = DateTime.MinValue;
DateTime lastlsq3 = DateTime.MinValue;
HIL.Vector3 centre = new HIL.Vector3();
while (true)
{
// slow down execution
System.Threading.Thread.Sleep(10);
string str = "Got + " + datacompass1.Count + " samples\n" +
"Compass 1 error: " + error;
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS2_X"))
str += "\nCompass 2 error: " + error2;
if (MainV2.comPort.MAV.param.ContainsKey("COMPASS_OFS3_X"))
str += "\nCompass 3 error: " + error3;
str += "\n" + extramsg;
((ProgressReporterDialogue) sender).UpdateProgressAndStatus(-1, str);
if (e.CancelRequested)
{
e.CancelAcknowledged = false;
e.CancelRequested = false;
break;
}
if (datacompass1.Count == 0)
continue;
float rawmx = datacompass1[datacompass1.Count - 1].Item1;
float rawmy = datacompass1[datacompass1.Count - 1].Item2;
float rawmz = datacompass1[datacompass1.Count - 1].Item3;
// for old method
setMinorMax(rawmx, ref minx, ref maxx);
setMinorMax(rawmy, ref miny, ref maxy);
setMinorMax(rawmz, ref minz, ref maxz);
// get the current estimated centerpoint
//new HIL.Vector3((float)-((maxx + minx) / 2), (float)-((maxy + miny) / 2), (float)-((maxz + minz) / 2));
//Console.WriteLine("1 " + DateTime.Now.Millisecond);
// run lsq every second when more than 100 datapoints
if (datacompass1.Count > 100 && lastlsq.Second != DateTime.Now.Second)
{
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.ALL, 0);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, 50);
lastlsq = DateTime.Now;
lock (datacompass1)
{
var lsq = MagCalib.LeastSq(datacompass1, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
centre = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre " + centre.ToString());
((ProgressReporterSphere) sender).sphere1.CenterPoint = new OpenTK.Vector3(
(float) centre.x, (float) centre.y, (float) centre.z);
}
}
}
// run lsq every second when more than 100 datapoints
if (datacompass2.Count > 100 && lastlsq2.Second != DateTime.Now.Second)
{
lastlsq2 = DateTime.Now;
lock (datacompass2)
{
var lsq = MagCalib.LeastSq(datacompass2, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
HIL.Vector3 centre2 = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre2 " + centre2.ToString());
((ProgressReporterSphere) sender).sphere2.CenterPoint = new OpenTK.Vector3(
(float) centre2.x, (float) centre2.y, (float) centre2.z);
}
}
}
// run lsq every second when more than 100 datapoints
if (datacompass3.Count > 100 && lastlsq3.Second != DateTime.Now.Second)
{
lastlsq3 = DateTime.Now;
lock (datacompass3)
{
var lsq = MagCalib.LeastSq(datacompass3, false);
// simple validation
if (Math.Abs(lsq[0]) < 999)
{
HIL.Vector3 centre3 = new HIL.Vector3(lsq[0], lsq[1], lsq[2]);
log.Info("new centre2 " + centre3.ToString());
((ProgressReporterSphere) sender).sphere3.CenterPoint = new OpenTK.Vector3(
(float) centre3.x, (float) centre3.y, (float) centre3.z);
}
}
}
//Console.WriteLine("1a " + DateTime.Now.Millisecond);
// dont use dup data
if (lastcount == datacompass1.Count)
continue;
lastcount = datacompass1.Count;
// add to sphere with center correction
((ProgressReporterSphere) sender).sphere1.AddPoint(new OpenTK.Vector3(rawmx, rawmy, rawmz));
((ProgressReporterSphere) sender).sphere1.AimClear();
if (datacompass2.Count > 30)
{
float raw2mx = datacompass2[datacompass2.Count - 1].Item1;
float raw2my = datacompass2[datacompass2.Count - 1].Item2;
float raw2mz = datacompass2[datacompass2.Count - 1].Item3;
((ProgressReporterSphere) sender).sphere2.AddPoint(new OpenTK.Vector3(raw2mx, raw2my, raw2mz));
((ProgressReporterSphere) sender).sphere2.AimClear();
}
if (datacompass3.Count > 30)
{
float raw3mx = datacompass3[datacompass3.Count - 1].Item1;
float raw3my = datacompass3[datacompass3.Count - 1].Item2;
float raw3mz = datacompass3[datacompass3.Count - 1].Item3;
((ProgressReporterSphere) sender).sphere3.AddPoint(new OpenTK.Vector3(raw3mx, raw3my, raw3mz));
((ProgressReporterSphere) sender).sphere3.AimClear();
}
//Console.WriteLine("2 " + DateTime.Now.Millisecond);
HIL.Vector3 point;
point = new HIL.Vector3(rawmx, rawmy, rawmz) + centre;
//find the mean radius
float radius = 0;
for (int i = 0; i < datacompass1.Count; i++)
{
point = new HIL.Vector3(datacompass1[i].Item1, datacompass1[i].Item2, datacompass1[i].Item3);
radius += (float) (point + centre).length();
}
radius /= datacompass1.Count;
//test that we can find one point near a set of points all around the sphere surface
int pointshit = 0;
string displayresult = "";
int factor = 3; // pitch
int factor2 = 4; // yaw
float max_distance = radius/3; //pretty generouse
for (int j = 0; j <= factor; j++)
{
double theta = (Math.PI*(j + 0.5))/factor;
for (int i = 0; i <= factor2; i++)
{
double phi = (2*Math.PI*i)/factor2;
HIL.Vector3 point_sphere = new HIL.Vector3(
(float) (Math.Sin(theta)*Math.Cos(phi)*radius),
(float) (Math.Sin(theta)*Math.Sin(phi)*radius),
(float) (Math.Cos(theta)*radius)) - centre;
//log.InfoFormat("magcalib check - {0} {1} dist {2}", theta * rad2deg, phi * rad2deg, max_distance);
bool found = false;
for (int k = 0; k < datacompass1.Count; k++)
{
point = new HIL.Vector3(datacompass1[k].Item1, datacompass1[k].Item2, datacompass1[k].Item3);
double d = (point_sphere - point).length();
if (d < max_distance)
{
pointshit++;
found = true;
break;
}
}
// draw them all
//((ProgressReporterSphere)sender).sphere1.AimFor(new OpenTK.Vector3((float)point_sphere.x, (float)point_sphere.y, (float)point_sphere.z));
if (!found)
{
displayresult = "more data needed Aim For " +
GetColour((int) (theta*rad2deg), (int) (phi*rad2deg));
((ProgressReporterSphere) sender).sphere1.AimFor(new OpenTK.Vector3((float) point_sphere.x,
(float) point_sphere.y, (float) point_sphere.z));
//j = factor;
//break;
}
}
}
extramsg = displayresult;
//Console.WriteLine("3 "+ DateTime.Now.Millisecond);
// check primary compass error
if (error < 0.2 && pointshit > hittarget && ((ProgressReporterSphere) sender).autoaccept)
{
extramsg = "";
break;
}
}
MainV2.comPort.UnSubscribeToPacketType(sub);
MainV2.comPort.UnSubscribeToPacketType(sub2);
MainV2.comPort.UnSubscribeToPacketType(sub3);
// restore old sensor rate
MainV2.comPort.MAV.cs.ratesensors = backupratesens;
MainV2.comPort.MAV.cs.rateattitude = backuprateatt;
MainV2.comPort.MAV.cs.rateposition = backupratepos;
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.POSITION, MainV2.comPort.MAV.cs.rateposition);
// request gps
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA1, MainV2.comPort.MAV.cs.rateattitude);
// request attitude
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA2, MainV2.comPort.MAV.cs.rateattitude);
// request vfr
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.EXTRA3, MainV2.comPort.MAV.cs.ratesensors);
// request extra stuff - tridge
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RAW_SENSORS, MainV2.comPort.MAV.cs.ratesensors);
// request raw sensor
MainV2.comPort.requestDatastream(MAVLink.MAV_DATA_STREAM.RC_CHANNELS, MainV2.comPort.MAV.cs.raterc);
// request rc info
if (MainV2.speechEnable)
{
MainV2.speechEngine.SpeakAsync("Compass Calibration Complete");
}
else
{
Console.Beep();
}
if (minx > 0 && maxx > 0 || minx < 0 && maxx < 0 || miny > 0 && maxy > 0 || miny < 0 && maxy < 0 ||
minz > 0 && maxz > 0 || minz < 0 && maxz < 0)
{
e.ErrorMessage = "Bad compass raw values. Check for magnetic interferance.";
ans = null;
ans2 = null;
return;
}
if (extramsg != "")
{
if (CustomMessageBox.Show(Strings.MissingDataPoints, Strings.RunAnyway, MessageBoxButtons.YesNo) ==
DialogResult.No)
{
e.CancelAcknowledged = true;
e.CancelRequested = true;
ans = null;
ans2 = null;
ans3 = null;
return;
}
}
// remove outlyers
RemoveOutliers(ref datacompass1);
if (havecompass2 && datacompass2.Count > 0)
{
RemoveOutliers(ref datacompass2);
}
if (havecompass3 && datacompass3.Count > 0)
{
RemoveOutliers(ref datacompass3);
}
if (datacompass1.Count < 10)
{
e.ErrorMessage = "Log does not contain enough data";
ans = null;
ans2 = null;
return;
}
bool ellipsoid = false;
if (MainV2.comPort.MAV.param.ContainsKey("MAG_DIA"))
{
ellipsoid = true;
}
log.Info("Compass 1");
ans = MagCalib.LeastSq(datacompass1, ellipsoid);
if (havecompass2 && datacompass2.Count > 0)
{
log.Info("Compass 2");
ans2 = MagCalib.LeastSq(datacompass2, ellipsoid);
}
if (havecompass3 && datacompass3.Count > 0)
{
log.Info("Compass 3");
ans3 = MagCalib.LeastSq(datacompass3, ellipsoid);
}
}
static void RemoveOutliers(ref List<Tuple<float, float, float>> data)
{
// remove outlyers
data.Sort(
delegate(Tuple<float, float, float> d1, Tuple<float, float, float> d2)
{
// get distance from 0,0,0
double ans1 = Math.Sqrt(d1.Item1*d1.Item1 + d1.Item2*d1.Item2 + d1.Item3*d1.Item3);
double ans2 = Math.Sqrt(d2.Item1*d2.Item1 + d2.Item2*d2.Item2 + d2.Item3*d2.Item3);
if (ans1 > ans2)
return 1;
if (ans1 < ans2)
return -1;
return 0;
}
);
data.RemoveRange(data.Count - (data.Count/16), data.Count/16);
}
public static double[] getOffsetsLog(string fn)
{
// this is for a dxf
Polyline3dVertex vertex;
List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>();
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
List<Tuple<float, float, float>> data2 = new List<Tuple<float, float, float>>();
Log.DFLog dflog = new Log.DFLog();
var logfile = dflog.ReadLog(fn);
foreach (var line in logfile)
{
if (line.msgtype == "MAG" || line.msgtype == "MAG2")
{
int indexmagx = dflog.FindMessageOffset(line.msgtype, "MagX");
int indexmagy = dflog.FindMessageOffset(line.msgtype, "MagY");
int indexmagz = dflog.FindMessageOffset(line.msgtype, "MagZ");
int indexoffsetx = dflog.FindMessageOffset(line.msgtype, "OfsX");
int indexoffsety = dflog.FindMessageOffset(line.msgtype, "OfsY");
int indexoffsetz = dflog.FindMessageOffset(line.msgtype, "OfsZ");
if (indexmagx != -1 && indexoffsetx != -1)
{
float magx = float.Parse(line.items[indexmagx]);
float magy = float.Parse(line.items[indexmagy]);
float magz = float.Parse(line.items[indexmagz]);
float offsetx = float.Parse(line.items[indexoffsetx]);
float offsety = float.Parse(line.items[indexoffsety]);
float offsetz = float.Parse(line.items[indexoffsetz]);
//offsetx = offsety = offsetz = 0;
if (line.msgtype == "MAG")
{
data.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
// fox dxf
vertex = new Polyline3dVertex(new Vector3f(magx - offsetx,
magy - offsety,
magz - offsetz)
);
vertexes.Add(vertex);
}
else if (line.msgtype == "MAG2")
{
data2.Add(new Tuple<float, float, float>(
magx - offsetx,
magy - offsety,
magz - offsetz));
}
}
}
}
double[] x = LeastSq(data);
if (data2.Count > 0)
{
double[] x2 = LeastSq(data2);
}
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize<double>(ref x, 3);
return x;
}
/// <summary>
/// Processes a tlog to get the offsets - creates dxf of data
/// </summary>
/// <param name="fn">Filename</param>
/// <returns>Offsets</returns>
public static double[] getOffsets(string fn, int throttleThreshold = 0)
{
// based off tridge's work
string logfile = fn;
// old method
float minx = 0;
float maxx = 0;
float miny = 0;
float maxy = 0;
float minz = 0;
float maxz = 0;
// this is for a dxf
Polyline3dVertex vertex;
List<Polyline3dVertex> vertexes = new List<Polyline3dVertex>();
// data storage
Tuple<float, float, float> offset = new Tuple<float, float, float>(0, 0, 0);
List<Tuple<float, float, float>> data = new List<Tuple<float, float, float>>();
Hashtable filter = new Hashtable();
// track data to use
bool useData = false;
if (throttleThreshold <= 0)
useData = true;
log.Info("Start log: " + DateTime.Now);
using (MAVLinkInterface mine = new MAVLinkInterface())
{
try
{
mine.logplaybackfile =
new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read));
}
catch (Exception ex)
{
log.Debug(ex.ToString());
CustomMessageBox.Show("Log Can not be opened. Are you still connected?");
return new double[] {0};
}
mine.logreadmode = true;
mine.MAV.packets.Initialize(); // clear
// gather data
while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length)
{
byte[] packetraw = mine.readPacket();
var packet = mine.DebugPacket(packetraw, false);
// this is for packets we dont know about
if (packet == null)
continue;
if (packet.GetType() == typeof (MAVLink.mavlink_vfr_hud_t))
{
if (((MAVLink.mavlink_vfr_hud_t) packet).throttle >= throttleThreshold)
{
useData = true;
}
else
{
useData = false;
}
}
if (packet.GetType() == typeof (MAVLink.mavlink_sensor_offsets_t))
{
offset = new Tuple<float, float, float>(
((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_x,
((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_y,
((MAVLink.mavlink_sensor_offsets_t) packet).mag_ofs_z);
}
else if (packet.GetType() == typeof (MAVLink.mavlink_raw_imu_t) && useData)
{
int div = 20;
// fox dxf
vertex = new Polyline3dVertex(new Vector3f(
((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3)
);
vertexes.Add(vertex);
// for old method
setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1, ref minx, ref maxx);
setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2, ref miny, ref maxy);
setMinorMax(((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3, ref minz, ref maxz);
// for new lease sq
string item = (int) (((MAVLink.mavlink_raw_imu_t) packet).xmag/div) + "," +
(int) (((MAVLink.mavlink_raw_imu_t) packet).ymag/div) + "," +
(int) (((MAVLink.mavlink_raw_imu_t) packet).zmag/div);
if (filter.ContainsKey(item))
{
filter[item] = (int) filter[item] + 1;
if ((int) filter[item] > 3)
continue;
}
else
{
filter[item] = 1;
}
data.Add(new Tuple<float, float, float>(
((MAVLink.mavlink_raw_imu_t) packet).xmag - offset.Item1,
((MAVLink.mavlink_raw_imu_t) packet).ymag - offset.Item2,
((MAVLink.mavlink_raw_imu_t) packet).zmag - offset.Item3));
}
}
log.Info("Log Processed " + DateTime.Now);
Console.WriteLine("Extracted " + data.Count + " data points");
Console.WriteLine("Current offset: " + offset);
mine.logreadmode = false;
mine.logplaybackfile.Close();
mine.logplaybackfile = null;
}
if (data.Count < 10)
{
CustomMessageBox.Show("Log does not contain enough data");
throw new Exception("Not Enough Data");
}
data.Sort(
delegate(Tuple<float, float, float> d1, Tuple<float, float, float> d2)
{
// get distance from 0,0,0
double ans1 = Math.Sqrt(d1.Item1*d1.Item1 + d1.Item2*d1.Item2 + d1.Item3*d1.Item3);
double ans2 = Math.Sqrt(d2.Item1*d2.Item1 + d2.Item2*d2.Item2 + d2.Item3*d2.Item3);
if (ans1 > ans2)
return 1;
if (ans1 < ans2)
return -1;
return 0;
}
);
data.RemoveRange(data.Count - (data.Count/16), data.Count/16);
System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx)/2, -(maxy + miny)/2, -(maxz + minz)/2);
double[] x = LeastSq(data);
log.Info("Least Sq Done " + DateTime.Now);
doDXF(vertexes, x);
Array.Resize<double>(ref x, 3);
return x;
}
static void doDXF(List<Polyline3dVertex> vertexes, double[] x)
{
// create a dxf for those who want to "see" the calibration
DxfDocument dxf = new DxfDocument();
Polyline3d polyline = new Polyline3d(vertexes, true);
polyline.Layer = new Layer("polyline3d");
polyline.Layer.Color.Index = 24;
dxf.AddEntity(polyline);
var pnt = new Point(new Vector3f(-(float) x[0], -(float) x[1], -(float) x[2]));
pnt.Layer = new Layer("new offset");
pnt.Layer.Color.Index = 21;
dxf.AddEntity(pnt);
dxf.Save("magoffset.dxf", DxfVersion.AutoCad2000);
log.Info("dxf Done " + DateTime.Now);
}
static double avg_samples = 0;
/// <summary>
/// Does the least sq adjustment to find the center of the sphere
/// </summary>
/// <param name="data">list of x,y,z data</param>
/// <returns>offsets</returns>
public static double[] LeastSq(List<Tuple<float, float, float>> data, bool ellipsoid = false)
{
avg_samples = 0;
foreach (var item in data)
{
avg_samples += Math.Sqrt(Math.Pow(item.Item1, 2) + Math.Pow(item.Item2, 2) + Math.Pow(item.Item3, 2));
}
avg_samples /= data.Count;
log.Info("lsq avg " + avg_samples + " count " + data.Count);
double[] x;
//
x = new double[] {0, 0, 0, 0};
x = doLSQ(data, sphere_error, x);