Latest updates to data conversion

spatz/sensors/imu/accelerometer.py

@@ -32,7 +32,7 @@ class Accelerometer(Sensor):
             orientation: NDArray = np.identity(3), 
             offset: float = 0, 
             transforms: List[Transform] = []):
-        """_summary_
+        """Accelerometer sensor base class.
 
         Args:
             dataset (Dataset): A dataset object to fetch data from.
@@ -50,30 +50,8 @@ class Accelerometer(Sensor):
         self._orientation = orientation
 
     def _get_data(self) -> ArrayLike | float:
-        """
-        acc = self._dataset.get_acceleration('global')
-
-        self._logger.write('global_ax', acc[0], self._get_name())
-        self._logger.write('global_ay', acc[1], self._get_name())
-        self._logger.write('global_az', acc[2], self._get_name())
-
-        # Convert FL to body
-        acc = self._dataset.global_to_local() @ acc
-        acc += self._dataset.global_to_local() @ np.array([0, 0, g])
-
-        self._logger.write('local_x', acc[0], self._get_name())
-        self._logger.write('local_y', acc[1], self._get_name())
-        self._logger.write('local_z', acc[2], self._get_name())
-
-        # Rotate the acceleration vector to accomodate the accelerometer's orientation on the rocket.
-        acc = self._orientation @ acc
-
-        # Add the effects of the imu's offset.
-        omega = self._dataset.get_angular_velocity()
-        acc += (np.cross(omega, self._offset) + np.cross(omega, np.cross(omega, self._offset)))
-        """
-
         acc = self._dataset.get_acceleration('local')
+        acc += self._dataset.global_to_local() @ np.array([g, 0, 0])
 
         return acc
     

spatz/sensors/imu/iam_20380ht.py

@@ -6,16 +6,26 @@ 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
+from spatz.transforms import Transform, GaussianNoise, DriftingBias
 
 
 class IAM_20380HT(Gyroscope):
     def __init__(self, dataset: Dataset, logger: Logger,  orientation=np.identity(3), transforms: List[Transform] = []):
         super().__init__(dataset, logger, orientation, transforms)
 
+        self.__bias = DriftingBias(np.zeros(3), np.array([0.00218, 0.00105, 0.00203]), 400)
+        self.__constant_bias = np.random.normal(0, 2, 3)
+        self.__normal = GaussianNoise(0, np.array([0.0049272, 0.00557833, 0.00407826]))
+
+
     def _get_name(self) -> AnyStr:
         return 'IAM-20380HT'
 
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
+        x = (x / np.pi) * 180
+
+        t = self._dataset.get_time()
+        x = self.__constant_bias + self.__normal(t, self.__bias(t, x))
+
         return x
     

spatz/sensors/imu/sca3300.py

@@ -13,7 +13,7 @@ class SCA3300(Accelerometer):
     def __init__(self, dataset: Dataset, logger: Logger, orientation=np.identity(3), offset=0, transforms: List[Transform] = []):
         super().__init__(dataset, logger, orientation, offset, transforms)
 
-        self.__noise = GaussianNoise(0, 0.001)
+        self.__noise = GaussianNoise(0, 0.01)
 
     def _get_name(self) -> AnyStr:
         return 'SCA3300'

spatz/sensors/pressure/pressure.py

@@ -34,7 +34,7 @@ class PressureSensor(Sensor):
         if self._ts_effects:
             # Pre-defined constants.
             _p = 3e6
-            sigma = 40
+            sigma = 100
 
             # How far away from transsonic speed (mach 1) are we?
             vvec = self._dataset.get_velocity('global')

spatz/simulations/astos_source.py

@@ -39,10 +39,10 @@ class ASTOSSource(CSVSource):
         super().__init__(path, 'time', interpolation)
 
     def get_position(self) -> NDArray:
-        return self.fetch_values(['x', 'y', 'z'])
+        return self.fetch_values(['px_L', 'py_L', 'pz_L'])
 
     def get_velocity(self, frame: Literal['global', 'local']) -> NDArray:
-        vel = self.fetch_values(['vx', 'vy', 'vz'])
+        vel = self.fetch_values(['vx_L', 'vy_L', 'vz_L'])
 
         if frame == 'local':
             return self.global_to_local() @ vel
@@ -50,10 +50,10 @@ class ASTOSSource(CSVSource):
         return vel
 
     def get_acceleration(self, frame: Literal['global', 'local']) -> NDArray:
-        acc = self.fetch_values(['ax', 'ay', 'az'])
-
-        if frame == 'local':
-            return self.global_to_local() @ acc
+        if frame == 'global':
+            acc = self.fetch_values(['ax_L', 'ay_L', 'az_L']) + np.array([-self.fetch_value('gravity'), 0, 0])
+        else:
+            acc = self.fetch_values(['ax_B', 'ay_B', 'az_B']) + self.fetch_init_values(['gx_B', 'gy_B', 'gz_B'])
         
         return acc
 
@@ -69,22 +69,7 @@ class ASTOSSource(CSVSource):
         pitch_l, yaw_l, roll_l = rots[0], rots[1], rots[2]
         local_to_body = T1(roll_l) @ T2(pitch_l - math.pi/2) @ T1(-yaw_l)
 
-        # ASTOS global to launch rail.
-        init_long = self.fetch_init_value('longitude')
-        init_lat = self.fetch_init_value('latitude')
-        global_to_launch_rail = T2(-math.pi/2 - init_lat) @ T3(init_long)
-
-        # ASTOS global to local.
-        decl = self.fetch_value('declination')
-        long = self.fetch_value('longitude')
-        t0 = self.get_start_time()
-        omega_E = (2*math.pi) / (24*60*60)
-        global_to_local = T2(-decl) @ T3(long + omega_E * t0)
-
-        # ASTOS local to launch rail inverted
-        local_to_launch_rail_inv = global_to_launch_rail @ global_to_local
-
-        return local_to_body @ local_to_launch_rail_inv
+        return local_to_body
     
     def get_angular_velocity(self) -> NDArray:
         return self.fetch_values(['OMEGA_X', 'OMEGA_Y', 'OMEGA_Z'])