Major rework using rocketpy

spatz/sensors/imu/bmi088.py

@@ -0,0 +1,46 @@
+import numpy as np
+
+from typing import List, AnyStr
+
+from numpy.typing import ArrayLike
+from spatz.dataset import ArrayLike, Dataset
+from spatz.logger import ArrayLike, Logger
+from spatz.sensors import IMU, Accelerometer, Gyroscope, CoordSystem
+from spatz.transforms import Transform, GaussianNoise
+
+
+class BMI088(IMU):
+    def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset=0, transforms: List[Transform] = []):
+        acc = BMI088Acc(dataset, logger, orientation, offset, transforms)
+        gyro = BMI088Gyro(dataset, logger, offset, transforms)
+
+        super().__init__(dataset, logger, acc, gyro, transforms)
+
+
+class BMI088Gyro(Gyroscope):
+    def __init__(self, dataset: Dataset, logger: Logger, offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, offset, transforms)
+
+    def _get_name(self) -> AnyStr:
+        return 'BMI088'
+
+    def _get_data(self) -> ArrayLike:
+        rots = self._dataset.fetch_values(['roll_l', 'pitch_l', 'yaw_l'])
+
+        return rots
+
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return x
+    
+
+class BMI088Acc(Accelerometer):
+    def __init__(self, dataset: Dataset, logger: Logger, orientation = np.identity(3), offset: float = 0, transforms: List[Transform] = []):
+        super().__init__(dataset, logger, CoordSystem.RIGHT_HANDED, orientation, offset, transforms)
+
+        self.__noise = GaussianNoise(0, 0.05)
+
+    def _get_name(self) -> AnyStr:
+        return 'BMI088'
+    
+    def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        return self.__noise(0, x)