1 files changed, 0 insertions, 145 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py b/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
deleted file mode 100644
index 87d2dbb7f..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit_delta.py
+++ /dev/null
@@ -1,145 +0,0 @@
-#!/usr/bin/env python
-
-'''
-fit best estimate of magnetometer offsets using the algorithm from
-Bill Premerlani
-'''
-
-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__)), '..'))
-
-# command line option handling
-from optparse import OptionParser
-parser = OptionParser("magfit_delta.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("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--verbose", action='store_true', default=False, help="verbose offset output")
-parser.add_option("--gain", type='float', default=0.01, help="algorithm gain")
-parser.add_option("--noise", type='float', default=0, help="noise to add")
-parser.add_option("--max-change", type='float', default=10, help="max step change")
-parser.add_option("--min-diff", type='float', default=50, help="min mag vector delta")
-parser.add_option("--history", type='int', default=20, help="how many points to keep")
-parser.add_option("--repeat", type='int', default=1, help="number of repeats through the data")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-from rotmat import Vector3, Matrix3
-
-if len(args) < 1:
-    print("Usage: magfit_delta.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 find_offsets(data, ofs):
-    '''find mag offsets by applying Bills "offsets revisited" algorithm
-       on the data
-
-       This is an implementation of the algorithm from:
-          http://gentlenav.googlecode.com/files/MagnetometerOffsetNullingRevisited.pdf
-       '''
-
-    # a limit on the maximum change in each step
-    max_change = opts.max_change
-
-    # the gain factor for the algorithm
-    gain = opts.gain
-
-    data2 = []
-    for d in data:
-        d = d.copy() + noise()
-        d.x = float(int(d.x + 0.5))
-        d.y = float(int(d.y + 0.5))
-        d.z = float(int(d.z + 0.5))
-        data2.append(d)
-    data = data2
-
-    history_idx = 0
-    mag_history = data[0:opts.history]
-    
-    for i in range(opts.history, len(data)):
-        B1 = mag_history[history_idx] + ofs
-        B2 = data[i] + ofs
-        
-        diff = B2 - B1
-        diff_length = diff.length()
-        if diff_length <= opts.min_diff:
-            # the mag vector hasn't changed enough - we don't get any
-            # information from this
-            history_idx = (history_idx+1) % opts.history
-            continue
-
-        mag_history[history_idx] = data[i]
-        history_idx = (history_idx+1) % opts.history
-
-        # equation 6 of Bills paper
-        delta = diff * (gain * (B2.length() - B1.length()) / diff_length)
-
-        # limit the change from any one reading. This is to prevent
-        # single crazy readings from throwing off the offsets for a long
-        # time
-        delta_length = delta.length()
-        if max_change != 0 and delta_length > max_change:
-            delta *= max_change / delta_length
-
-        # set the new offsets
-        ofs = ofs - delta
-
-        if opts.verbose:
-            print ofs
-    return ofs
-
-
-def magfit(logfile):
-    '''find best magnetometer offset fit to a log file'''
-
-    print("Processing log %s" % filename)
-
-    # open the log file
-    mlog = mavutil.mavlink_connection(filename, notimestamps=opts.notimestamps)
-
-    data = []
-    mag = None
-    offsets = Vector3(0,0,0)
-    
-    # now gather all the data
-    while True:
-        # get the next MAVLink message in the log
-        m = mlog.recv_match(condition=opts.condition)
-        if m is None:
-            break
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update offsets that were used during this flight
-            offsets = Vector3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if m.get_type() == "RAW_IMU" and offsets != None:
-            # extract one mag vector, removing the offsets that were
-            # used during that flight to get the raw sensor values
-            mag = Vector3(m.xmag, m.ymag, m.zmag) - offsets
-            data.append(mag)
-
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-
-    # run the fitting algorithm
-    ofs = offsets
-    ofs = Vector3(0,0,0)
-    for r in range(opts.repeat):
-        ofs = find_offsets(data, ofs)
-        print('Loop %u offsets %s' % (r, ofs))
-        sys.stdout.flush()
-    print("New offsets: %s" % ofs)
-
-total = 0.0
-for filename in args:
-    magfit(filename)