Updated sensors and added empty logger for speedup

spatz/sensors/gps/erinome1.py

@@ -3,12 +3,13 @@ from typing import List
 from numpy.typing import ArrayLike
 from spatz.sensors.gps import GPS
 from spatz.dataset import ArrayLike, Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.logger import ArrayLike, Logger
 from spatz.transforms import Transform
 
 
 class Erinome_I(GPS):
-    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, logger: Logger, transforms: List[Transform] = []):
         super().__init__(dataset, logger, transforms)
 
     def _get_name(self):

spatz/sensors/gps/gps.py

@@ -8,6 +8,7 @@ from numpy.typing import ArrayLike
 from pandas import NA
 
 from spatz.dataset import ArrayLike, Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.logger import ArrayLike, Logger
 from spatz.sensors import Sensor
 from spatz.transforms import Transform
@@ -17,25 +18,24 @@ from spatz.transforms import Transform
 
 
 class GPS(Sensor):
-    def __init__(self, dataset: Dataset, logger: Logger, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, logger: Logger, transforms: List[Transform] = []):
         """GPS Module which provides the following information:
         - Longitude (in °)
         - Latitiude (in °)
         - Altitude (in m)
+        - Lock (1 or 0)
         """
         super().__init__(dataset, logger, transforms)
 
     def _get_data(self) -> ArrayLike:
-        vel = self._dataset.get_total_velocity()
+        long = self._dataset.get_longitude()
+        lat = self._dataset.get_latitude()
+        alt = self._dataset.get_altitude()
+        lock = 1
 
-        # TODO: At which speed do we assume that GPS becomes unreliable?
-        if vel / self._dataset.get_speed_of_sound() > 1:
-            return np.array([0, 0, 0])
-        
-        x = self._dataset.fetch_values(['latitude', 'longitude', 'altitude'])
-        x = self._sensor_specific_effects(x)
+        self._log('longitude', long)
+        self._log('latitude', lat)
+        self._log('altitude', alt)
+        self._log('lock', lock)
 
-        # Convert to degrees.
-        x *= 180 / math.pi
-
-        return x
+        return np.array([long, lat, alt, lock])

spatz/sensors/imu/wsen_isds.py

@@ -27,6 +27,11 @@ class WSEN_ISDS_ACC(Accelerometer):
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
         t = self._dataset.get_time()
 
+        g = 9.81
+
+        # Convert to milli-g.
+        x = x / g * 1000
+
         # Apply noise to the true values.
         y = self.__noise(t, x)
         noise = y - x
@@ -37,8 +42,7 @@ class WSEN_ISDS_ACC(Accelerometer):
         self._logger.write('acc_z_noise', noise[2], self._get_name())
 
         # The WSEN-ISDS accelerometer only measures acceleration between -16g and 16g. 
-        g = 9.81
-        y = np.clip(y, -16*g, +16*g)
+        y = np.clip(y, -16000, +16000)
 
         return y
     
@@ -51,8 +55,8 @@ class WSEN_ISDS_GYRO(Gyroscope):
         return 'WSEN_ISDS_GYRO'
 
     def _sensor_specific_effects(self, x: ArrayLike) -> ArrayLike:
-        # Convert to degrees per second.
-        x = (x / np.pi) * 180
+        # Convert to milli-degrees per second.
+        x = (x / np.pi) * 180 * 1000
 
         # TODO: Noise model.
 

spatz/sensors/sensor.py

@@ -50,7 +50,7 @@ class Sensor:
     def _get_data(self) -> ArrayLike | float:
         raise NotImplementedError()
 
-    def get_init_data() -> ArrayLike:
+    def get_init_data(self) -> ArrayLike:
         pass
 
     def __call__(self) -> ArrayLike | float:

spatz/sensors/temperature/ms5611.py

@@ -3,12 +3,13 @@ from typing import List, AnyStr
 
 from spatz.transforms.noise import GaussianNoise
 from spatz.dataset import Dataset
+from spatz.simulations.data_source import DataSource
 from spatz.sensors import TemperatureSensor
 from spatz.transforms import Transform
 
 
 class MS5611Temperature(TemperatureSensor):
-    def __init__(self, dataset: Dataset, transforms: List[Transform] = []):
+    def __init__(self, dataset: DataSource, transforms: List[Transform] = []):
         super().__init__(dataset, transforms)
 
         self.__noise = GaussianNoise(0, 0.5)