1 files changed, 0 insertions, 138 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit.py b/mavlink/share/pyshared/pymavlink/examples/magfit.py
deleted file mode 100644
index 7bfda796b..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit.py
+++ /dev/null
@@ -1,138 +0,0 @@
-#!/usr/bin/env python
-
-'''
-fit best estimate of magnetometer offsets
-'''
-
-import sys, time, os, math
-
-# allow import from the parent directory, where mavlink.py is
-sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
-
-from optparse import OptionParser
-parser = OptionParser("magfit.py [options]")
-parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
-parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
-parser.add_option("--noise", type='float', default=0, help="noise to add")
-parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-from rotmat import Vector3
-
-if len(args) < 1:
-    print("Usage: magfit.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-def noise():
-    '''a noise vector'''
-    from random import gauss
-    v = Vector3(gauss(0, 1), gauss(0, 1), gauss(0, 1))
-    v.normalize()
-    return v * opts.noise
-
-def select_data(data):
-    ret = []
-    counts = {}
-    for d in data:
-        mag = d
-        key = "%u:%u:%u" % (mag.x/20,mag.y/20,mag.z/20)
-        if key in counts:
-            counts[key] += 1
-        else:
-            counts[key] = 1
-        if counts[key] < 3:
-            ret.append(d)
-    print(len(data), len(ret))
-    return ret
-
-def radius(mag, offsets):
-    '''return radius give data point and offsets'''
-    return (mag + offsets).length()
-
-def radius_cmp(a, b, offsets):
-    '''return radius give data point and offsets'''
-    diff = radius(a, offsets) - radius(b, offsets)
-    if diff > 0:
-        return 1
-    if diff < 0:
-        return -1
-    return 0
-
-def sphere_error(p, data):
-    from scipy import sqrt
-    x,y,z,r = p
-    ofs = Vector3(x,y,z)
-    ret = []
-    for d in data:
-        mag = d
-        err = r - radius(mag, ofs)
-        ret.append(err)
-    return ret
-
-def fit_data(data):
-    import numpy, scipy
-    from scipy import optimize
-
-    p0 = [0.0, 0.0, 0.0, 0.0]
-    p1, ier = optimize.leastsq(sphere_error, p0[:], args=(data))
-    if not ier in [1, 2, 3, 4]:
-        raise RuntimeError("Unable to find solution")
-    return (Vector3(p1[0], p1[1], p1[2]), p1[3])
-
-def magfit(logfile):
-    '''find best magnetometer offset fit to a log file'''
-
-    print("Processing log %s" % filename)
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-
-    data = []
-
-    last_t = 0
-    offsets = Vector3(0,0,0)
-
-    # now gather all the data
-    while True:
-        m = mlog.recv_match(condition=opts.condition)
-        if m is None:
-            break
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update current offsets
-            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if m.get_type() == "RAW_IMU":
-            mag = Vector3(m.xmag, m.ymag, m.zmag)
-            # add data point after subtracting the current offsets
-            data.append(mag - offsets + noise())
-
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-
-    data = select_data(data)
-
-    # do an initial fit with all data
-    (offsets, field_strength) = fit_data(data)
-
-    for count in range(3):
-        # sort the data by the radius
-        data.sort(lambda a,b : radius_cmp(a,b,offsets))
-
-        print("Fit %u    : %s  field_strength=%6.1f to %6.1f" % (
-            count, offsets,
-            radius(data[0], offsets), radius(data[-1], offsets)))
-        
-        # discard outliers, keep the middle 3/4
-        data = data[len(data)/8:-len(data)/8]
-
-        # fit again
-        (offsets, field_strength) = fit_data(data)
-
-    print("Final    : %s  field_strength=%6.1f to %6.1f" % (
-        offsets,
-        radius(data[0], offsets), radius(data[-1], offsets)))
-
-total = 0.0
-for filename in args:
-    magfit(filename)