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36 lines
957 B
Python
36 lines
957 B
Python
import cProfile
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import numpy as np
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import tqdm
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from spatz.simulation import Simulation
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from spatz.simulations.rocketpy import RocketPyCSV
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from spatz.sensors.pressure.ms5611 import MS5611
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from spatz.sensors.imu.wsen_isds import WSEN_ISDS_ACC, WSEN_ISDS_GYRO
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from spatz.sensors.imu.h3lis100dl import H3LIS100DL
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simulation = Simulation().load(RocketPyCSV('nominal_wind.csv'))
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barometer = simulation.add_sensor(MS5611)
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# Orientation matrix of the WSEN-ISDS IMU on the rocket.
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orientation = np.array([
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[ 1, 0, 0],
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[ 0, 0, -1],
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[ 0, -1, 0]
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])
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accelerometer = simulation.add_sensor(WSEN_ISDS_ACC, orientation=orientation)
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gyroscope = simulation.add_sensor(WSEN_ISDS_GYRO)
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high_g = simulation.add_sensor(H3LIS100DL)
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for i in tqdm.tqdm(range(5000)):
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simulation.advance(0.1)
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pressure = barometer()
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acc = accelerometer()
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omegas = gyroscope()
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g = high_g()
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df = simulation.get_logger().get_dataframe()
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df.to_csv('dummy2.csv') |