km3modules.ahrs

AHRS calibration.

Module Contents

Classes

AHRSCalibrator

Calculates AHRS yaw, pitch and roll from median A and H of an interval.

Functions

fit_ahrs(A, H, Aoff, Arot, Hoff, Hrot)	Calculate yaw, pitch and roll for given A/H and calibration set.
get_latest_ahrs_calibration(clb_upi[, max_version])	Retrieve the latest AHRS calibration data for a given CLB

Attributes

log

km3modules.ahrs.log

class km3modules.ahrs.AHRSCalibrator(name=None, **parameters)

Calculates AHRS yaw, pitch and roll from median A and H of an interval.

Parameters:

det_id: int

The detector ID, e.g. 29)

Other Parameters:

interval: int (accumulation interval in [sec], default: 10s)

Notes

Writes ‘AHRSCalibration’ in the blob with:

dict: key=dom_id, value=tuple: (timestamp, du, floor, yaw, pitch, roll)

configure()

Configure module, like instance variables etc.

process(blob)

Knead the blob and return it

calibrate()

Calculate yaw, pitch and roll from the median of A and H.

After successful calibration, the self.A and self.H are reset. DOMs with missing AHRS pre-calibration data are skipped.

Returns:

dict: key=dom_id, value=tuple: (timestamp, du, floor, yaw, pitch, roll)

km3modules.ahrs.fit_ahrs(A, H, Aoff, Arot, Hoff, Hrot)

Calculate yaw, pitch and roll for given A/H and calibration set.

Author: Vladimir Kulikovskiy

Parameters:

A: list, tuple or numpy.array of shape (3,)

H: list, tuple or numpy.array of shape (3,)

Aoff: numpy.array of shape(3,)

Arot: numpy.array of shape(3, 3)

Hoff: numpy.array of shape(3,)

Hrot: numpy.array of shape(3, 3)

Returns:

yaw, pitch, roll

km3modules.ahrs.get_latest_ahrs_calibration(clb_upi, max_version=3)

Retrieve the latest AHRS calibration data for a given CLB

Parameters:

clb_upi: str

max_version: int, maximum version to check, optional

Returns:

Aoff: numpy.array with shape(3,)

Arot: numpy.array with shape(3,3)

Hoff: numpy.array with shape(3,)

Hrot: numpy.array with shape(3,3)

or None if no calibration found.