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@mluessi
Created December 7, 2015 20:09
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{
"cells": [
{
"cell_type": "code",
"execution_count": 27,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Populating the interactive namespace from numpy and matplotlib\n"
]
},
{
"name": "stderr",
"output_type": "stream",
"text": [
"WARNING: pylab import has clobbered these variables: ['plt']\n",
"`%matplotlib` prevents importing * from pylab and numpy\n"
]
}
],
"source": [
"%pylab inline\n",
"\n",
"import os\n",
"import os.path as op\n",
"import sys\n",
"import struct\n",
"import glob\n",
"import warnings\n",
"\n",
"import scipy as sp\n",
"import numpy as np\n",
"from matplotlib import pylab as plt\n",
"\n",
"dr_dir = '/home/martin/data/brain_fpv/code/dRonin/'\n",
"sys.path.insert(0, op.join(dr_dir, 'python'))\n",
"\n",
"import dronin\n",
"from dronin import uavo_collection"
]
},
{
"cell_type": "code",
"execution_count": 28,
"metadata": {
"collapsed": false
},
"outputs": [],
"source": [
"def read_logfile(fname): \n",
" fd = open(fname, 'r')\n",
" ft = dronin.telemetry.FileTelemetry(fd)\n",
" \n",
" # update globals, so we can easily access class names\n",
" uavo_classes = [(t[0], t[1]) for t in dronin.uavo.__dict__.iteritems() if 'UAVO_' in t[0]]\n",
" globals().update(uavo_classes)\n",
" \n",
" # Print some stats about file contents\n",
" print \"Read the following UAVOs: \"\n",
" for c in sorted(globals().keys()):\n",
" if not c.startswith('UAVO_'):\n",
" continue\n",
" n = len(ft.as_numpy_array(globals()[c]))\n",
" if n > 0:\n",
" print '%s : %d' % (c, n)\n",
" return ft"
]
},
{
"cell_type": "code",
"execution_count": 31,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"Read the following UAVOs: \n",
"UAVO_Accels : 1077\n",
"UAVO_ActuatorCommand : 538\n",
"UAVO_AttitudeActual : 538\n",
"UAVO_BaroAltitude : 108\n",
"UAVO_FlightStatus : 2\n",
"UAVO_Gyros : 1078\n",
"UAVO_Magnetometer : 538\n",
"UAVO_ManualControlCommand : 540\n",
"UAVO_PositionActual : 108\n",
"UAVO_VelocityActual : 108\n"
]
}
],
"source": [
"# Read log\n",
"log_fname = '../dRonin-2015-12-07_14-52-17.drlog'\n",
"uavos = read_logfile(log_fname)"
]
},
{
"cell_type": "code",
"execution_count": 32,
"metadata": {
"collapsed": false
},
"outputs": [
{
"name": "stdout",
"output_type": "stream",
"text": [
"0.0100046468401\n"
]
},
{
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"text/plain": [
"<matplotlib.figure.Figure at 0x7f5c24454c90>"
]
},
"metadata": {},
"output_type": "display_data"
}
],
"source": [
"gyros = uavos.as_numpy_array(UAVO_Gyros)\n",
"plt.figure(figsize=(20,4))\n",
"plt.plot(gyros['time'], gyros['x'], '*-')\n",
"print np.mean(np.diff(gyros['time'][:-1]))"
]
},
{
"cell_type": "code",
"execution_count": null,
"metadata": {
"collapsed": true
},
"outputs": [],
"source": []
}
],
"metadata": {
"kernelspec": {
"display_name": "Python 2",
"language": "python",
"name": "python2"
},
"language_info": {
"codemirror_mode": {
"name": "ipython",
"version": 2
},
"file_extension": ".py",
"mimetype": "text/x-python",
"name": "python",
"nbconvert_exporter": "python",
"pygments_lexer": "ipython2",
"version": "2.7.9"
}
},
"nbformat": 4,
"nbformat_minor": 0
}
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