rafaelcaricio/Open_Duck_Mini_Runtime
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upside down imu option

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apirrone 2025-03-17 10:51:16 +01:00
parent 60ecfbdea8
commit f8751e2bbe
3 changed files with 40 additions and 12 deletions
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13
mini_bdx_runtime/mini_bdx_runtime/imu.py
View file

@ -44,6 +44,15 @@ class Imu:
adafruit_bno055.AXIS_REMAP_NEGATIVE, adafruit_bno055.AXIS_REMAP_NEGATIVE,
adafruit_bno055.AXIS_REMAP_NEGATIVE, adafruit_bno055.AXIS_REMAP_NEGATIVE,
) )
else:
self.imu.axis_remap = (
adafruit_bno055.AXIS_REMAP_Y,
adafruit_bno055.AXIS_REMAP_X,
adafruit_bno055.AXIS_REMAP_Z,
adafruit_bno055.AXIS_REMAP_NEGATIVE,
adafruit_bno055.AXIS_REMAP_POSITIVE,
adafruit_bno055.AXIS_REMAP_POSITIVE,
)
self.pitch_bias = self.nominal_pitch_bias + self.user_pitch_bias self.pitch_bias = self.nominal_pitch_bias + self.user_pitch_bias
@ -75,9 +84,13 @@ class Imu:
if os.path.exists("imu_calib_data.pkl"): if os.path.exists("imu_calib_data.pkl"):
imu_calib_data = pickle.load(open("imu_calib_data.pkl", "rb")) imu_calib_data = pickle.load(open("imu_calib_data.pkl", "rb"))
self.imu.mode = adafruit_bno055.CONFIG_MODE
time.sleep(0.1)
self.imu.offsets_accelerometer = imu_calib_data["offsets_accelerometer"] self.imu.offsets_accelerometer = imu_calib_data["offsets_accelerometer"]
self.imu.offsets_gyroscope = imu_calib_data["offsets_gyroscope"] self.imu.offsets_gyroscope = imu_calib_data["offsets_gyroscope"]
self.imu.offsets_magnetometer = imu_calib_data["offsets_magnetometer"] self.imu.offsets_magnetometer = imu_calib_data["offsets_magnetometer"]
self.imu.mode = adafruit_bno055.IMUPLUS_MODE
time.sleep(0.1)
else: else:
print("imu_calib_data.pkl not found") print("imu_calib_data.pkl not found")
print("Imu is running uncalibrated") print("Imu is running uncalibrated")

37
mini_bdx_runtime/mini_bdx_runtime/raw_imu.py
View file

@ -12,7 +12,9 @@ import time
# TODO filter spikes # TODO filter spikes
class Imu: class Imu:
def __init__(self, sampling_freq, user_pitch_bias=0, calibrate=False, upside_down=True): def __init__(
self, sampling_freq, user_pitch_bias=0, calibrate=False, upside_down=True
):
self.sampling_freq = sampling_freq self.sampling_freq = sampling_freq
self.calibrate = calibrate self.calibrate = calibrate
@ -20,21 +22,30 @@ class Imu:
self.imu = adafruit_bno055.BNO055_I2C(i2c) self.imu = adafruit_bno055.BNO055_I2C(i2c)
# self.imu.mode = adafruit_bno055.IMUPLUS_MODE # self.imu.mode = adafruit_bno055.IMUPLUS_MODE
self.imu.mode = adafruit_bno055.ACCGYRO_MODE # self.imu.mode = adafruit_bno055.ACCGYRO_MODE
# self.imu.mode = adafruit_bno055.GYRONLY_MODE # self.imu.mode = adafruit_bno055.GYRONLY_MODE
# self.imu.mode = adafruit_bno055.NDOF_MODE self.imu.mode = adafruit_bno055.NDOF_MODE
# self.imu.mode = adafruit_bno055.NDOF_FMC_OFF_MODE # self.imu.mode = adafruit_bno055.NDOF_FMC_OFF_MODE
if upside_down: if upside_down:
self.imu.axis_remap = ( self.imu.axis_remap = (
adafruit_bno055.AXIS_REMAP_Y, adafruit_bno055.AXIS_REMAP_Y,
adafruit_bno055.AXIS_REMAP_X, adafruit_bno055.AXIS_REMAP_X,
adafruit_bno055.AXIS_REMAP_Z, adafruit_bno055.AXIS_REMAP_Z,
adafruit_bno055.AXIS_REMAP_NEGATIVE, adafruit_bno055.AXIS_REMAP_NEGATIVE,
adafruit_bno055.AXIS_REMAP_NEGATIVE, adafruit_bno055.AXIS_REMAP_NEGATIVE,
adafruit_bno055.AXIS_REMAP_NEGATIVE adafruit_bno055.AXIS_REMAP_NEGATIVE,
) )
else:
self.imu.axis_remap = (
adafruit_bno055.AXIS_REMAP_Y,
adafruit_bno055.AXIS_REMAP_X,
adafruit_bno055.AXIS_REMAP_Z,
adafruit_bno055.AXIS_REMAP_NEGATIVE,
adafruit_bno055.AXIS_REMAP_POSITIVE,
adafruit_bno055.AXIS_REMAP_POSITIVE,
)
if self.calibrate: if self.calibrate:
self.imu.mode = adafruit_bno055.NDOF_MODE self.imu.mode = adafruit_bno055.NDOF_MODE
@ -64,9 +75,13 @@ class Imu:
if os.path.exists("imu_calib_data.pkl"): if os.path.exists("imu_calib_data.pkl"):
imu_calib_data = pickle.load(open("imu_calib_data.pkl", "rb")) imu_calib_data = pickle.load(open("imu_calib_data.pkl", "rb"))
self.imu.mode = adafruit_bno055.CONFIG_MODE
time.sleep(0.1)
self.imu.offsets_accelerometer = imu_calib_data["offsets_accelerometer"] self.imu.offsets_accelerometer = imu_calib_data["offsets_accelerometer"]
self.imu.offsets_gyroscope = imu_calib_data["offsets_gyroscope"] self.imu.offsets_gyroscope = imu_calib_data["offsets_gyroscope"]
self.imu.offsets_magnetometer = imu_calib_data["offsets_magnetometer"] self.imu.offsets_magnetometer = imu_calib_data["offsets_magnetometer"]
self.imu.mode = adafruit_bno055.NDOF_MODE
time.sleep(0.1)
else: else:
print("imu_calib_data.pkl not found") print("imu_calib_data.pkl not found")
print("Imu is running uncalibrated") print("Imu is running uncalibrated")

2
setup.cfg
View file

@ -23,7 +23,7 @@ install_requires =
adafruit-circuitpython-bno055==5.4.13 adafruit-circuitpython-bno055==5.4.13
scipy==1.15.1 scipy==1.15.1
pygame==2.6.0 pygame==2.6.0
adafruit_exended_bus adafruit_extended_bus
[options.packages.find] [options.packages.find]
where=mini_bdx_runtime where=mini_bdx_runtime