1 files changed, 0 insertions, 159 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py b/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
deleted file mode 100644
index 30ba45806..000000000
--- a/mavlink/share/pyshared/pymavlink/examples/magfit_gps.py
+++ /dev/null
@@ -1,159 +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("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
-parser.add_option("--minspeed", type='float', default=5.0, help="minimum ground speed to use")
-
-(opts, args) = parser.parse_args()
-
-if opts.mav10:
-    os.environ['MAVLINK10'] = '1'
-import mavutil
-
-if len(args) < 1:
-    print("Usage: magfit.py [options] <LOGFILE...>")
-    sys.exit(1)
-
-class vec3(object):
-    def __init__(self, x, y, z):
-        self.x = x
-        self.y = y
-        self.z = z
-    def __str__(self):
-        return "%.1f %.1f %.1f" % (self.x, self.y, self.z)
-
-def heading_error1(parm, data):
-    from math import sin, cos, atan2, degrees
-    from numpy import dot
-    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
-
-    ret = []
-    for d in data:
-        x = d[0] + xofs
-        y = d[1] + yofs
-        z = d[2] + zofs
-        r = d[3]
-        p = d[4]
-        h = d[5]
-
-        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
-        headY = y*cos(r) - z*sin(r)
-        heading = degrees(atan2(-headY,headX)) + declination
-        if heading < 0:
-            heading += 360
-        herror = h - heading
-        if herror > 180:
-            herror -= 360
-        if herror < -180:
-            herror += 360
-        ret.append(herror)
-    return ret
-
-def heading_error(parm, data):
-    from math import sin, cos, atan2, degrees
-    from numpy import dot
-    xofs,yofs,zofs,a1,a2,a3,a4,a5,a6,a7,a8,a9,declination = parm
-
-    a = [[1.0,a2,a3],[a4,a5,a6],[a7,a8,a9]]
-
-    ret = []
-    for d in data:
-        x = d[0] + xofs
-        y = d[1] + yofs
-        z = d[2] + zofs
-        r = d[3]
-        p = d[4]
-        h = d[5]
-        mv = [x, y, z]
-        mv2 = dot(a, mv)
-        x = mv2[0]
-        y = mv2[1]
-        z = mv2[2]
-
-        headX = x*cos(p) + y*sin(r)*sin(p) + z*cos(r)*sin(p)
-        headY = y*cos(r) - z*sin(r)
-        heading = degrees(atan2(-headY,headX)) + declination
-        if heading < 0:
-            heading += 360
-        herror = h - heading
-        if herror > 180:
-            herror -= 360
-        if herror < -180:
-            herror += 360
-        ret.append(herror)
-    return ret
-
-def fit_data(data):
-    import numpy, scipy
-    from scipy import optimize
-
-    p0 = [0.0, 0.0, 0.0, 1, 0, 0, 0, 1, 0, 0, 0, 1, 0]
-    p1, ier = optimize.leastsq(heading_error1, p0[:], args=(data))
-
-#    p0 = p1[:]
-#    p1, ier = optimize.leastsq(heading_error, p0[:], args=(data))
-
-    print(p1)
-    if not ier in [1, 2, 3, 4]:
-        raise RuntimeError("Unable to find solution")
-    return p1
-
-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)
-
-    flying = False
-    gps_heading = 0.0
-
-    data = []
-
-    # get the current mag offsets
-    m = mlog.recv_match(type='SENSOR_OFFSETS')
-    offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-
-    attitude = mlog.recv_match(type='ATTITUDE')
-
-    # now gather all the data
-    while True:
-        m = mlog.recv_match()
-        if m is None:
-            break
-        if m.get_type() == "GPS_RAW":
-            # flying if groundspeed more than 5 m/s
-            flying = (m.v > opts.minspeed and m.fix_type == 2)
-            gps_heading = m.hdg
-        if m.get_type() == "ATTITUDE":
-            attitude = m
-        if m.get_type() == "SENSOR_OFFSETS":
-            # update current offsets
-            offsets = vec3(m.mag_ofs_x, m.mag_ofs_y, m.mag_ofs_z)
-        if not flying:
-            continue
-        if m.get_type() == "RAW_IMU":
-            data.append((m.xmag - offsets.x, m.ymag - offsets.y, m.zmag - offsets.z, attitude.roll, attitude.pitch, gps_heading))
-    print("Extracted %u data points" % len(data))
-    print("Current offsets: %s" % offsets)
-    ofs2 = fit_data(data)
-    print("Declination estimate: %.1f" % ofs2[-1])
-    new_offsets = vec3(ofs2[0], ofs2[1], ofs2[2])
-    a = [[ofs2[3], ofs2[4], ofs2[5]],
-         [ofs2[6], ofs2[7], ofs2[8]],
-         [ofs2[9], ofs2[10], ofs2[11]]]
-    print(a)
-    print("New offsets    : %s" % new_offsets)
-
-total = 0.0
-for filename in args:
-    magfit(filename)