/// <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; log.Info("Start log: " + DateTime.Now); MAVLink mine = new MAVLink(); 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); double[] x = LeastSq(data); System.Console.WriteLine("Old Method {0} {1} {2}", -(maxx + minx) / 2, -(maxy + miny) / 2, -(maxz + minz) / 2); log.Info("Least Sq Done " + DateTime.Now); // 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); Point pnt = new Point(new Vector3f(-offset.Item1, -offset.Item2, -offset.Item3)); pnt.Layer = new Layer("old offset"); pnt.Layer.Color.Index = 22; dxf.AddEntity(pnt); 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); Array.Resize<double>(ref x, 3); return x; }
private void BUT_humanreadable_Click(object sender, EventArgs e) { OpenFileDialog openFileDialog1 = new OpenFileDialog(); openFileDialog1.Filter = "*.tlog|*.tlog"; openFileDialog1.FilterIndex = 2; openFileDialog1.RestoreDirectory = true; openFileDialog1.Multiselect = true; try { openFileDialog1.InitialDirectory = Path.GetDirectoryName(Application.ExecutablePath) + Path.DirectorySeparatorChar + @"logs" + Path.DirectorySeparatorChar; } catch { } // incase dir doesnt exist if (openFileDialog1.ShowDialog() == DialogResult.OK) { foreach (string logfile in openFileDialog1.FileNames) { MAVLink mine = new MAVLink(); mine.logplaybackfile = new BinaryReader(File.Open(logfile, FileMode.Open, FileAccess.Read, FileShare.Read)); mine.logreadmode = true; mine.packets.Initialize(); // clear StreamWriter sw = new StreamWriter(Path.GetDirectoryName(logfile)+ Path.DirectorySeparatorChar + Path.GetFileNameWithoutExtension(logfile) + ".txt"); while (mine.logplaybackfile.BaseStream.Position < mine.logplaybackfile.BaseStream.Length) { // bar moves to 100 % in this step progressBar1.Value = (int)((float)mine.logplaybackfile.BaseStream.Position / (float)mine.logplaybackfile.BaseStream.Length * 100.0f / 1.0f); progressBar1.Refresh(); //Application.DoEvents(); byte[] packet = mine.readPacket(); string text = ""; mine.DebugPacket(packet, ref text); sw.Write(mine.lastlogread +" "+text); } sw.Close(); progressBar1.Value = 100; mine.logreadmode = false; mine.logplaybackfile.Close(); mine.logplaybackfile = null; } } }