diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..ed8ebf5 --- /dev/null +++ b/.gitignore @@ -0,0 +1 @@ +__pycache__ \ No newline at end of file diff --git a/README.md b/README.md index edc46a7..05cc042 100644 --- a/README.md +++ b/README.md @@ -1 +1,7 @@ -# thrust_map_estimation \ No newline at end of file +# Thrust Map estimation + +This repository holds all the tools and procedures used to estimate a Thrust Map using a thrust stand for offline data recording. + +## Thrust Stand utils + +The [thrust_stand](./thrust_stand/) folder contains the scripts used to carry out the experiments on the thrust stand so they can be replicated, as well as some test data obtained for a specific motor model and all the scripts used to fit and test the polynomial surface for the Thrust Map. \ No newline at end of file diff --git a/figures/multirotor-surface.png b/figures/multirotor-surface.png new file mode 100644 index 0000000..bc429b2 Binary files /dev/null and b/figures/multirotor-surface.png differ diff --git a/figures/ramp-exp.png b/figures/ramp-exp.png new file mode 100644 index 0000000..1ec441e Binary files /dev/null and b/figures/ramp-exp.png differ diff --git a/figures/single-rotor-surface.png b/figures/single-rotor-surface.png new file mode 100644 index 0000000..66e2ac3 Binary files /dev/null and b/figures/single-rotor-surface.png differ diff --git a/figures/steps-exp.png b/figures/steps-exp.png new file mode 100644 index 0000000..6acc4de Binary files /dev/null and b/figures/steps-exp.png differ diff --git a/figures/stepup-exp.png b/figures/stepup-exp.png new file mode 100644 index 0000000..bf025a1 Binary files /dev/null and b/figures/stepup-exp.png differ diff --git a/thrust_stand/RCbenchmark/README.md b/thrust_stand/RCbenchmark/README.md new file mode 100644 index 0000000..b36d4c6 --- /dev/null +++ b/thrust_stand/RCbenchmark/README.md @@ -0,0 +1,10 @@ +# Experiments using RCbenchmark + +The thrust stand used to record the test data of this repository works with the [RCbenchmark](https://www.tytorobotics.com/pages/rcbenchmark-software?srsltid=AfmBOoplVTaXTnj7UVUPZncaaGceY2aUXAr7xT3j2jto4vNWKTdj7LbD) software application. This software allows the loading of scripts to automate experiments. The experiment scripts used in the tests are these: + +- [rcb_ThrustMap_ramp](./rcb_ThrustMap_ramp.js): performs a continuous ramp between specified minimum and maximum throttle values in a given time. Additional options allow to also perform a descending ramp, or perform consecutive ramps. +- [rcb_ThrustMap_steps](./rcb_ThrustMap_steps.js): performs a series of steps, returning to a low throttle level after each step. The steps are performed at increasingly high levels. The maximum and minimum values, as well as the increment between steps can be configured. +- [rcb_ThrustMap_stepsUp](./rcb_ThrustMap_stepsUp.js) and [rcb_ThrustMap_stepsDown](./rcb_ThrustMap_stepsDown.js): performs a series of steps without returning to a low level throttle between steps. The steps in `stepsUp` are increasingly high, while the ones in `stepsDown` decrease along the experiment. + + +ramp steps stepsup \ No newline at end of file diff --git a/thrust_stand/RCbenchmark/rcb_ThrustMap_ramp.js b/thrust_stand/RCbenchmark/rcb_ThrustMap_ramp.js new file mode 100644 index 0000000..6af797e --- /dev/null +++ b/thrust_stand/RCbenchmark/rcb_ThrustMap_ramp.js @@ -0,0 +1,99 @@ +/* //////////////// Ramp response measure //////////////// + +The script will perform an up and down ramp function with values between "minVal" and "maxVal". Around each ramp the script will keep the output constant (plateau). The ramp will be of duration "t". Data will be continuously recorded during the test. + + ^ Motor Input + | ___maxVal + | / \ + | / \ <-> waitTime + | minVal___/ \___ + |_________ ________________> Time + +///////////// User defined variables //////////// */ + +var minVal = 1000; // Min. input value [700us, 2300us] +var maxVal = 1600; // Max. input value [700us, 2300us] +var t = 30; // Time of the ramp input (seconds) +var samplesAvg = 5; // Number of samples to average at each reading (reduces noise and number of CSV rows) +var repeat = 1; // How many times to repeat the same sequence +var filePrefix = "xNova-TM"; +var rampGoDown = true; // If set to true, the ramp will go up and down. + +///////////////// Beginning of the script ////////////////// + +//Reading sensors and writing to file continuously +rcb.files.newLogFile({prefix: filePrefix}); +readSensor(); // Start the loop. After readSensor(), readDone() followed by readSensor(), etc. + +function readSensor(){ + rcb.console.setVerbose(false); + rcb.sensors.read(readDone, samplesAvg); + rcb.console.setVerbose(true); +} + +function readDone(result){ + rcb.console.setVerbose(false); + rcb.files.newLogEntry(result,readSensor); + rcb.console.setVerbose(true); +} + +//ESC initialization +rcb.console.print("Initializing ESC..."); +rcb.output.set("esc",1000); +rcb.wait(startPlateau, 4); + +//Start plateau +function startPlateau(){ + rcb.console.print("Start Plateau..."); + rcb.output.set("esc",minVal); + rcb.wait(rampUp, 2.0); + rcb.console.print("This should be at the end"); +} + +//Ramp up +function rampUp(){ + rcb.console.print("Ramping Up..."); + rcb.output.ramp("esc", minVal, maxVal, t, upPlateau); +} + +//Up Plateau +function upPlateau() { + rcb.console.print("Up Plateau..."); + rcb.wait(rampDown, 0.5); +} + +//Ramp down +function rampDown() { + if(rampGoDown){ + rcb.console.print("Ramping Down..."); + rcb.output.ramp("esc", maxVal, minVal, t, endPlateau); + }else + endScript(); +} + +//End Plateau +function endPlateau() { + rcb.console.print("End Plateau..."); + rcb.wait(endScript, 2.0); +} + +//Ends or loops the script +function endScript() { + if(--repeat > 0){ + if(repeat === 0){ + rcb.console.print("Repeating one last time..."); + }else{ + rcb.console.print("Repeating " + repeat + " more times..."); + } + startPlateau(); + }else{ + rcb.endScript(); + } +} + + + + + + + diff --git a/thrust_stand/RCbenchmark/rcb_ThrustMap_steps.js b/thrust_stand/RCbenchmark/rcb_ThrustMap_steps.js new file mode 100644 index 0000000..a95c6f2 --- /dev/null +++ b/thrust_stand/RCbenchmark/rcb_ThrustMap_steps.js @@ -0,0 +1,58 @@ +var minEsc = 1100; +var maxVal = 2000; +var waitTime = 2.0; +var samplesAvg = 5; +var repeat = 1.0; +var throttleIncrement = 50; +var filePrefix = "xNova-TM"; + +function readSensor(){ + rcb.console.setVerbose(false); + rcb.sensors.read(readDone, samplesAvg); + rcb.console.setVerbose(true); +} + +function readDone(result){ + rcb.console.setVerbose(false); + rcb.files.newLogEntry(result, readSensor); + rcb.console.setVerbose(true); +} + +function performRampStep(min_value, max_value, maxLimit, increment) { + if (max_value > maxLimit) { + rcb.console.print("Script done. Closing down..."); + return; + } + + rcb.console.print("Up from " + min_value + " to " + max_value); + rcb.output.ramp("esc", min_value, max_value, waitTime, function () { + rcb.console.print("Plateau at max..."); + rcb.wait(function () { + rcb.console.print("Down from " + max_value + " to " + min_value); + rcb.output.ramp("esc", max_value, min_value, waitTime, function () { + rcb.console.print("Plateau at min..."); + rcb.wait(function () { + performRampStep(min_value, max_value + increment, maxLimit, increment); + }, waitTime); + }); + }, waitTime); + }); +} + +function runScript() { + rcb.output.set("esc", minEsc); + var min_value = 1100; + var maxLimit = 1800; + var increment = throttleIncrement; + + performRampStep(min_value, min_value + increment, maxLimit, increment); +} + +// Inicio de la ejecución +rcb.files.newLogFile({prefix: filePrefix}); +readSensor(); + +rcb.console.print("Initializing ESC..."); +rcb.output.set("esc", 1000); + +rcb.wait(runScript, 3); \ No newline at end of file diff --git a/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsDown.js b/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsDown.js new file mode 100644 index 0000000..214a7ff --- /dev/null +++ b/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsDown.js @@ -0,0 +1,53 @@ +var minEsc = 1100; +var maxVal = 2000; +var waitTime = 2.0; +var samplesAvg = 5; +var repeat = 1.0; +var throttleIncrement = 50; +var filePrefix = "xNova-TM"; + +function readSensor(){ + rcb.console.setVerbose(false); + rcb.sensors.read(readDone, samplesAvg); + rcb.console.setVerbose(true); +} + +function readDone(result){ + rcb.console.setVerbose(false); + rcb.files.newLogEntry(result, readSensor); + rcb.console.setVerbose(true); +} + +function performRampStep(min_value, max_value, maxLimit, increment) { + if (max_value > maxLimit) { + rcb.console.print("Script done. Closing down..."); + return; + } + + rcb.console.print("Down from " + max_value + " to " + min_value); + rcb.output.ramp("esc", max_value, min_value, waitTime, function () { + rcb.console.print("Plateau at min..."); + rcb.wait(function () { + max_value = min_value; + performRampStep(max_value, max_value + increment, maxLimit, increment); + }, waitTime); + }); +} + +function runScript() { + rcb.output.set("esc", minEsc); + var max_value = 1600; + var minLimit = 1100; + var increment = throttleIncrement; + + performRampStep(max_value, max_value - increment, minLimit, increment); +} + +// Inicio de la ejecución +rcb.files.newLogFile({prefix: filePrefix}); +readSensor(); + +rcb.console.print("Initializing ESC..."); +rcb.output.set("esc", 1000); + +rcb.wait(runScript, 3); \ No newline at end of file diff --git a/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsUp.js b/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsUp.js new file mode 100644 index 0000000..665138e --- /dev/null +++ b/thrust_stand/RCbenchmark/rcb_ThrustMap_stepsUp.js @@ -0,0 +1,53 @@ +var minEsc = 1100; +var maxVal = 2000; +var waitTime = 2.0; +var samplesAvg = 5; +var repeat = 1.0; +var throttleIncrement = 50; +var filePrefix = "xNova-TM"; + +function readSensor(){ + rcb.console.setVerbose(false); + rcb.sensors.read(readDone, samplesAvg); + rcb.console.setVerbose(true); +} + +function readDone(result){ + rcb.console.setVerbose(false); + rcb.files.newLogEntry(result, readSensor); + rcb.console.setVerbose(true); +} + +function performRampStep(min_value, max_value, maxLimit, increment) { + if (max_value > maxLimit) { + rcb.console.print("Script done. Closing down..."); + return; + } + + rcb.console.print("Up from " + min_value + " to " + max_value); + rcb.output.ramp("esc", min_value, max_value, waitTime, function () { + rcb.console.print("Plateau at max..."); + rcb.wait(function () { + min_value = max_value; + performRampStep(min_value, min_value + increment, maxLimit, increment); + }, waitTime); + }); +} + +function runScript() { + rcb.output.set("esc", minEsc); + var min_value = 1100; + var maxLimit = 1600; + var increment = throttleIncrement; + + performRampStep(min_value, min_value + increment, maxLimit, increment); +} + +// Inicio de la ejecución +rcb.files.newLogFile({prefix: filePrefix}); +readSensor(); + +rcb.console.print("Initializing ESC..."); +rcb.output.set("esc", 1000); + +rcb.wait(runScript, 3); \ No newline at end of file diff --git a/thrust_stand/README.md b/thrust_stand/README.md new file mode 100644 index 0000000..196fd41 --- /dev/null +++ b/thrust_stand/README.md @@ -0,0 +1,59 @@ +# Thrust stand experiments for Thrust Map estimation + +The scripts that process the thrust stand data and turn them into a polynomial Thrust Map are found here. + +SR-TM MR-TM + +## Usage + +To obtain the coefficients for the polynomial surface that characterizes the Thrust Map, simply run: + +``` +python3 thrust_map_fit.py -d -c +``` + +This will take all the data `.csv` files in the given directory and combine them to use them all for the surface fitting. Alternatively, you can run: + +``` +python3 thrust_map_fit.py -f ... -c +``` + +to pass a list of specific files you want to use for the polynomial surface fitting. + +By default, this script will perform the fitting and output the resulting coefficientes to a text file. A configuration file can be used to set data filters and activate more options. The [default configuration](config/default_config.yaml) looks like this: + +``` +combined_data_file: null # combined data filename. If null, no data is saved. +coefficients_file: null # coefficients file name. Default is coefficients.txt +poly_deg: 2nd # degree of the desired polynomial to fit +compute_error: true # save a report file with fitting error and stddev +plot_results: true # plot resulting fitted surface + +data_filter: + min_thrust: 0.0 # discard all data rows with thrust below this threshold + max_thrust: 11.0 # discard all data rows with thrust above this threshold + min_volt: 20.4 # discard all data rows with voltage below this threshold + max_volt: 25.2 # discard all data rows with voltage above this threshold + min_throttle: 1300 # discard all data rows with throttle below this threshold + max_throttle: 1500 # discard all data rows with throttle above this threshold + +plotting: + color: orange # color for the plotted data and surface +``` + +- `combined_data_file`: saves all the combined data from the different input `.csv` files into a file with the given name. If `null` (default) the combined data will not be saved. +- `coefficients_file`: name of the file with the stored coefficients resulted from the polynomial fitting that will be saved to the 'results' folder. Default name is 'coefficients.txt'. +- `poly_deg`: degree of the polynomial surface to be fitted. Default is a 2nd degree polynomial. Only polynomial between 1st and 4th degree are valid. +- `compute_error`: if true, generates a report with the Mean Absolute Error and the Standard Deviation of the fitting of the polynomial to the input data in the 'results' folder. Default is false. +- `plot_results`: if true, shows a 3D plot of the fitted surface and the input data. +- `data_filter`: allows to specify maximum and minimum values of thrust, voltage and throttle to filter the data. +- `plotting`: options for the plots, like the color of the data and the surface. + +## Recording data form the thrust stand + +The scripts in this repository assume that your data is stored in `.csv` files that have, at least, the following three columns with these exact same names: +- Voltage (V) +- Thrust (N) +- ESC signal (µs) + +This is the same format of the data recorded by RCbenchmark software used to record the test data provided with this repository. For more information on the recording of data using RCbenchmark see the [RCbenchmark](./RCbenchmark/) section. \ No newline at end of file diff --git a/thrust_stand/config/default_config.yaml b/thrust_stand/config/default_config.yaml new file mode 100644 index 0000000..7624c99 --- /dev/null +++ b/thrust_stand/config/default_config.yaml @@ -0,0 +1,16 @@ +combined_data_file: null # combined data filename. If null, no data is saved. +coefficients_file: null # coefficients file name. Default is coefficients.txt +poly_deg: 2nd # degree of the desired polynomial to fit +compute_error: true # save a report file with fitting error and stddev +plot_results: true # plot resulting fitted surface + +data_filter: + min_thrust: 0.0 # discard all data rows with thrust below this threshold + max_thrust: 11.0 # discard all data rows with thrust above this threshold + min_volt: 20.4 # discard all data rows with voltage below this threshold + max_volt: 25.2 # discard all data rows with voltage above this threshold + min_throttle: 1300 # discard all data rows with throttle below this threshold + max_throttle: 1500 # discard all data rows with throttle above this threshold + +plotting: + color: orange # color for the plotted data and surface \ No newline at end of file diff --git a/thrust_stand/data/multirotor/xNova-MR-ramp.csv b/thrust_stand/data/multirotor/xNova-MR-ramp.csv new file mode 100644 index 0000000..7156af9 --- /dev/null +++ b/thrust_stand/data/multirotor/xNova-MR-ramp.csv @@ -0,0 +1,565 @@ +Time (s),ESC signal (µs),Servo 1 (µs),Servo 2 (µs),Servo 3 (µs),AccX (g),AccY (g),AccZ (g),Torque (N·m),Thrust (N),Voltage (V),Current (A),Motor Electrical Speed (RPM),Motor Optical Speed (RPM),Electrical Power (W),Mechanical Power (W),Motor Efficiency (%),Propeller Mech. 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a/thrust_stand/data/single_rotor/xNova-SR-steps.csv b/thrust_stand/data/single_rotor/xNova-SR-steps.csv new file mode 100644 index 0000000..b301cfd --- /dev/null +++ b/thrust_stand/data/single_rotor/xNova-SR-steps.csv @@ -0,0 +1,682 @@ +Time (s),ESC signal (µs),Servo 1 (µs),Servo 2 (µs),Servo 3 (µs),AccX (g),AccY (g),AccZ (g),Torque (N·m),Thrust (N),Voltage (V),Current (A),Motor Electrical Speed (RPM),Motor Optical Speed (RPM),Electrical Power (W),Mechanical Power (W),Motor Efficiency (%),Propeller Mech. 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+1100;0.003447928;-0.152600244;21.95612679;0.217021701;1292 diff --git a/thrust_stand/thrust_map_error.py b/thrust_stand/thrust_map_error.py new file mode 100644 index 0000000..06cfcd3 --- /dev/null +++ b/thrust_stand/thrust_map_error.py @@ -0,0 +1,25 @@ +import pandas as pd + + +def thrustmap(thrust, voltage, popt): + coeffs = [0.0] * 15 + coeffs[:len(popt)] = popt + x, y = thrust, voltage + return coeffs[0] + coeffs[1] * x + coeffs[2] * y + coeffs[3] * x**2 + coeffs[4] * x * y + coeffs[5] * y**2 + coeffs[6] * x**3 + coeffs[7] * x**2 * y + coeffs[8] * x * y**2 + coeffs[9] * y**3 + coeffs[10] * x**4 + coeffs[11] * x**3 * y + coeffs[12] * x**2 * y**2 + coeffs[13] * x * y**3 + coeffs[14] * y**4 + + +def compute_error(data, popt): + # Compute throttle using the thrustmap function + data['computed_throttle'] = data.apply(lambda row: thrustmap( + row['Thrust (N)'], row['Voltage (V)'], popt), axis=1) + + # Compute error + data['error'] = data['computed_throttle'] - data['ESC signal (µs)'] + + # Compute statistics + mean_abs_error = data['error'].abs().mean() + std_error = data['error'].std() + + with open('results/fitting_error_report.txt', 'w') as f: + f.write(f"Mean Error Mutli: {mean_abs_error}\n") + f.write(f"Standard Deviation of Error Multi: {std_error}\n") diff --git a/thrust_stand/thrust_map_fit.py b/thrust_stand/thrust_map_fit.py new file mode 100644 index 0000000..0f9fa3b --- /dev/null +++ b/thrust_stand/thrust_map_fit.py @@ -0,0 +1,69 @@ +import pandas as pd +import matplotlib.pyplot as plt +from thrust_map_utils import * +from thrust_map_plot import setup_figure_3D, scatter_plot, surface_plot +from thrust_map_error import compute_error +from scipy.optimize import curve_fit + + +def fit_curve(data: pd.DataFrame, deg): + # Fit the curve to the data + xdata = [data['Thrust (N)'], data['Voltage (V)']] + ydata = data['ESC signal (µs)'] + print('Fitting curve') + func = get_polynomial(deg) + popt, pcov = curve_fit(func, xdata, ydata) + print('Fitted curve') + return popt, func + + +def store_coefficients(popt, output_file='coefficients.txt'): + # if output_filename is not None: + # output_file = + # else: + # output_file = f'results/{output_filename}' + # Store the coefficients in a file + order_str = 'The polynomial fitted is ' + if len(popt) == 3: + order_str += '1st' + elif len(popt) == 6: + order_str += '2nd' + elif len(popt) == 10: + order_str += '3rd' + elif len(popt) == 15: + order_str += '4th' + + order_str += ' order.\n' + + with open(f'results/{output_file}', 'w') as f: + f.write(order_str) + f.write('Coefficients: \n') + for i in range(len(popt)): + f.write(f'{chr(97+i)}: {popt[i]}\n') + + +if __name__ == '__main__': + args = parse_args() + + config = read_config(args.config) + + if args.files: + data = data_assemble(args.files, config['combined_data_file']) + elif args.directory: + data = data_assemble(args.directory, config['combined_data_file']) + + data = filter_data(data, config['data_filter']) + + popt, func = fit_curve(data, config['poly_deg']) + + store_coefficients(popt, config['coefficients_file']) + + if config['compute_error']: + compute_error(data, popt) + + if config['plot_results']: + fig, ax = setup_figure_3D() + surface_plot(data, fig, ax, func, popt, config['plotting']['color']) + scatter_plot(data, fig, ax, config['plotting']['color']) + + plt.show() diff --git a/thrust_stand/thrust_map_plot.py b/thrust_stand/thrust_map_plot.py new file mode 100644 index 0000000..85a6691 --- /dev/null +++ b/thrust_stand/thrust_map_plot.py @@ -0,0 +1,33 @@ +import pandas as pd +import numpy as np +import matplotlib.pyplot as plt +from typing import Tuple +from mpl_toolkits.mplot3d.axes3d import Axes3D + + +def setup_figure_3D() -> Tuple[plt.Figure, Axes3D]: + fig = plt.figure(figsize=(20, 20)) + ax = fig.add_subplot(111, projection='3d') + return fig, ax + + +def scatter_plot(data: pd.DataFrame, fig: plt.Figure, ax: Axes3D, color: str): + # ax = fig.add_subplot(111, projection='3d') + ax.scatter(data['Thrust (N)'], data['Voltage (V)'], + data['ESC signal (µs)'], label='Data from multirotor experiments', color=color) + + ax.set_xlabel('Thrust (N)', fontsize=18, labelpad=16) + ax.set_ylabel('Voltage (V)', fontsize=18, labelpad=16) + ax.set_zlabel('ESC signal (µs)', fontsize=18, labelpad=19) + + ax.set_xlim(min(data['Thrust (N)']), max(data['Thrust (N)'])) + ax.set_ylim(min(data['Voltage (V)']), max(data['Voltage (V)'])) + ax.set_zlim(min(data['ESC signal (µs)']), max(data['ESC signal (µs)'])) + + +def surface_plot(data: pd.DataFrame, fig, ax, func, popt, color): + x = np.linspace(min(data['Thrust (N)']), max(data['Thrust (N)']), 100) + y = np.linspace(min(data['Voltage (V)']), max(data['Voltage (V)']), 100) + x, y = np.meshgrid(x, y) + z = func((x, y), *popt) + ax.plot_surface(x, y, z, alpha=0.5, color=color) diff --git a/thrust_stand/thrust_map_utils.py b/thrust_stand/thrust_map_utils.py new file mode 100644 index 0000000..423c1b0 --- /dev/null +++ b/thrust_stand/thrust_map_utils.py @@ -0,0 +1,163 @@ +import os +import argparse +import glob +import pandas as pd +import yaml +from thrust_map_plot import setup_figure_3D, scatter_plot +import matplotlib.pyplot as plt + + +def parse_args(): + parser = argparse.ArgumentParser(description='Prepare and plot data before TM computating') + # pass either a list of data files or directory with all data files + data = parser.add_mutually_exclusive_group(required=True) + data.add_argument('-f', '--files', type=str, nargs='+', help='List of paths to data files') + data.add_argument('-d', '--directory', type=str, help='Path to directory with all data files') + # config file with data limits to filter + parser.add_argument('-c', '--config', type=str, + default='config/default_config.yaml', help='Path to data config file') + return parser.parse_args() + + +def read_config(config_path): + with open(config_path, 'r') as file: + config = yaml.safe_load(file) + return config + + +def data_assemble(source: str | list[str], output_file: str = None) -> pd.DataFrame: + # Read the data from csv files and dump it into a common dataframe + # print(csv_files) + combined_data = [] + column_names = ['ESC signal (µs)', 'Thrust (N)', 'Current (A)', 'Voltage (V)'] + + if isinstance(source, str): + print(f'Combining all .csv data from directory: {source}\n') + # Get all CSV files in the folder + csv_files = glob.glob(os.path.join(source, '*.csv')) + elif isinstance(source, list): + print(f'Reading data from input files: {source}\n') + csv_files = source + + for file in csv_files: + try: + df = pd.read_csv(file, usecols=column_names) + combined_data.append(df) + print(f"Processed: {file}") + except Exception as e: + print(f"Skipping {file} due to error: {e}") + + # Combine and save + if combined_data: + combined_df = pd.concat(combined_data, ignore_index=True) + else: + print("\nNo data processed. Check your folder or column names.") + if output_file is not None: + combined_df.to_csv(output_file, index=False) + print(f"\nCombined CSV saved to {output_file}") + + return combined_df + + +# def filter_data(data: pd.DataFrame, max_thrust: float, min_thrust: float, max_volt: float, min_volt: float, max_throttle: float, min_throttle: float) -> pd.DataFrame: +# # Filter the data and keep only the columns that are required +# # column_names = ['ESC signal (µs)', 'Thrust (N)', 'Current (A)', 'Voltage (V)'] +# # apply a *(-1) to the Thrust column to make it positive +# data['Thrust (N)'] = data['Thrust (N)'] * (-1) + +# # filter data +# data = data[data['Voltage (V)'] > min_volt] +# data = data[data['Voltage (V)'] < max_volt] +# data = data[data['ESC signal (µs)'] > min_throttle] +# data = data[data['ESC signal (µs)'] < max_throttle] +# data = data[data['Thrust (N)'] > min_thrust] +# data = data[data['Thrust (N)'] < max_thrust] + +# # print the maximun thrust value +# print('Max thrust value:', data['Thrust (N)'].max()) +# return data + + +def filter_data(data: pd.DataFrame, filters: dict[str, float]) -> pd.DataFrame: + # Filter the data and keep only the columns that are required + # column_names = ['ESC signal (µs)', 'Thrust (N)', 'Current (A)', 'Voltage (V)'] + # apply a *(-1) to the Thrust column to make it positive + data['Thrust (N)'] = data['Thrust (N)'] * (-1) + + # filter data + data = data[data['Voltage (V)'] > filters['min_volt']] + data = data[data['Voltage (V)'] < filters['max_volt']] + data = data[data['ESC signal (µs)'] > filters['min_throttle']] + data = data[data['ESC signal (µs)'] < filters['max_throttle']] + data = data[data['Thrust (N)'] > filters['min_thrust']] + data = data[data['Thrust (N)'] < filters['max_thrust']] + + # print the maximun thrust value + print('Max thrust value:', data['Thrust (N)'].max()) + return data + + +def func_1st_order(data, a1, a2, a3): + # Surface fit function with 1st degree polynomial + x, y = data + return a1 + a2 * x + a3 * y + + +def func_2nd_order(data, a1, a2, a3, a4, a5, a6): + # Surface fit function with 2nd degree polynomial + x, y = data + return a1 + a2 * x + a3 * y + a4 * x**2 + a5 * x * y + a6 * y**2 + + +def func_2nd_order_truncated(data, a1, a2, a3, a4): + x, y = data + return a1 + a2 * x + a3 * y + a4 * x**2 + + +def func_3rd_order_truncated(data, a1, a2, a3, a4, a5, a6, a7): + x, y = data + return a1 + a2 * x + a3 * y + a4 * x**2 + a5 * x * y + a6 * y**2 + a7 * y**3 + + +def func_3rd_order(data, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10): + # Surface fit function with 3rd degree polynomial + x, y = data + return a1 + a2 * x + a3 * y + a4 * x**2 + a5 * x * y + a6 * y**2 + a7 * x**3 + a8 * x**2 * y + a9 * x * y**2 + a10 * y**3 + + +def func_4th_order(data, a1, a2, a3, a4, a5, a6, a7, a8, a9, a10, a11, a12, a13, a14, a15): + x, y = data + return a1 + a2 * x + a3 * y + a4 * x**2 + a5 * x * y + a6 * y**2 + a7 * x**3 + a8 * x**2 * y + a9 * x * y**2 + a10 * y**3 + a11 * x**4 + a12 * x**3 * y + a13 * x**2 * y**2 + a14 * x * y**3 + a15 * y**4 + + +def get_polynomial(deg): + match deg: + case '1st': + return func_1st_order + case '2nd': + return func_2nd_order + case '3rd': + return func_3rd_order + case '4th': + return func_4th_order + case _: + raise Exception( + "Invalid polynomial degree. Valid degrees are '1st', '2nd', '3rd', '4th'.") + + +if __name__ == '__main__': + args = parse_args() + + config = read_config(args.config) + + if args.files: + data = data_assemble(args.files, config['output_file']) + elif args.directory: + data = data_assemble(args.directory, config['output_file']) + + data = filter_data(data, config['data_filter']) + + fig, ax = setup_figure_3D() + scatter_plot(data, fig, ax, config['plotting']['color']) + + plt.show()