pymavlink.tools.mavgpslag Namespace Reference

Functions
def	gps_lag (logfile)
def	velocity_error (timestamps, vel, gaccel, accel_indexes, imu_dt, shift=0)

Variables
	action
	args = parser.parse_args()
	default
	extra = os.path.join(home, '.pymavlink', 'mavextra.py')
	False
	float
	help
	home = os.getenv('HOME')
	mavuser = imp.load_source('pymavlink.mavuser', extra)
	metavar
	nargs
	parser = ArgumentParser(description=__doc__)
	type

Detailed Description

calculate GPS lag from DF log

The DF log file needs to be generated with ATT, GPS and IMU bits:
-  On copter (bit0, bit2 and bit18) set on the LOG_BITMASK parameters
-  On rover  (bit0, bit2 and bit7) set on the LOG_BITMASK parameters
-  On plane  (bit0, bit2 and bit7) set on the LOG_BITMASK parameters
Make sure IMU_RAW (bit 19) is not set

For this to work, the vehicle must move at speeds above the --minspeed parameter (defaults to 6m/s)
The code really only works when there is significant acceleration as well.
You'll need to fly quite aggressively on a copter to get a result.

Function Documentation

gps_lag()

def pymavlink.tools.mavgpslag.gps_lag

(

logfile

)

work out gps velocity lag times for a log file

Definition at line 69 of file mavgpslag.py.

velocity_error()

def pymavlink.tools.mavgpslag.velocity_error	(		timestamps,
			vel,
			gaccel,
			accel_indexes,
			imu_dt,
			shift = 0
	)

return summed velocity error

Definition at line 47 of file mavgpslag.py.

Variable Documentation

action

pymavlink.tools.mavgpslag.action

Definition at line 24 of file mavgpslag.py.

args

pymavlink.tools.mavgpslag.args = parser.parse_args()

Definition at line 29 of file mavgpslag.py.

default

pymavlink.tools.mavgpslag.default

Definition at line 24 of file mavgpslag.py.

extra

pymavlink.tools.mavgpslag.extra = os.path.join(home, '.pymavlink', 'mavextra.py')

Definition at line 40 of file mavgpslag.py.

False

pymavlink.tools.mavgpslag.False

Definition at line 24 of file mavgpslag.py.

float

pymavlink.tools.mavgpslag.float

Definition at line 25 of file mavgpslag.py.

help

pymavlink.tools.mavgpslag.help

Definition at line 24 of file mavgpslag.py.

home

pymavlink.tools.mavgpslag.home = os.getenv('HOME')

Definition at line 38 of file mavgpslag.py.

mavuser

pymavlink.tools.mavgpslag.mavuser = imp.load_source('pymavlink.mavuser', extra)

Definition at line 43 of file mavgpslag.py.

metavar

pymavlink.tools.mavgpslag.metavar

Definition at line 27 of file mavgpslag.py.

nargs

pymavlink.tools.mavgpslag.nargs

Definition at line 27 of file mavgpslag.py.

parser

pymavlink.tools.mavgpslag.parser = ArgumentParser(description=__doc__)

Definition at line 23 of file mavgpslag.py.

type

pymavlink.tools.mavgpslag.type

Definition at line 25 of file mavgpslag.py.