Add ability to plot both IMU and IMU3 at same time

python/logInspector/logInspector.py

@@ -286,7 +286,7 @@ def closeEvent(self, event):
         super().closeEvent(event)  
 
     def popPlot(self):
-        print("Pop Plot")
+        print("New Plot")
         mp = MPlotter(len(self.mplots), self, True, self.nameList[self.selectedIndex] + " - " + self.deviceInfo())
         mp.dialogClosed.connect(self.on_mplotter_closed)  # Connect the custom signal to a slot
         mp.show()
@@ -427,14 +427,12 @@ def setupUi(self):
         self.setAcceptDrops(True)
 
     def createListSystem(self):
-        self.addListSection('SYSTEM')
         self.addListItem('Flash Config', lambda: self.showFlashConfig())
         self.addListItem('Device Info', lambda: self.showDeviceInfo())
         self.addListItem('INS Status', 'insStatus')
         self.addListItem('HDW Status', 'hdwStatus')
 
     def createListIns(self):
-        self.addListSection('INS/AHRS')
         self.addListItem('Pos NED Map', 'posNEDMap')
         self.addListItem('Pos NED', 'posNED')
         self.addListItem('Pos LLA', 'posLLA')
@@ -446,7 +444,6 @@ def createListIns(self):
         self.addListItem('Climb Rate', 'climbRate')
 
     def createListSensors(self):
-        self.addListSection('SENSORS')
         self.addListItem('IMU PQR', 'imuPQR')
         self.addListItem('IMU Accel', 'imuAcc')
         self.addListItem('PSD PQR', 'gyroPSD')
@@ -456,7 +453,6 @@ def createListSensors(self):
         self.addListItem('Temp', 'temp')
 
     def createListGps(self):
-        self.addListSection('GPS')
         self.addListItem('GPS LLA', 'gpsLLA')
         self.addListItem('GPS 1 Stats', 'gpsStats')
         self.addListItem('GPS 2 Stats', 'gps2Stats')
@@ -474,7 +470,7 @@ def createListGps(self):
         self.addListItem('GPS Velocity NED', 'gpsVelNED')
 
     def createListGeneral(self):
-        self.addListSection('GENERAL')
+        None
 
     def setCurrentListRow(self, row):
         if row < self.modelList.rowCount() and row < len(self.functionList):
@@ -509,10 +505,19 @@ def createPlotSelection(self):
         groupBox.setLayout(LayoutList)
         self.controlLayout.addWidget(groupBox)        
 
+        self.addListSection('SYSTEM')
         self.createListSystem()
+
+        self.addListSection('INS/AHRS')
         self.createListIns()
+
+        self.addListSection('SENSORS')
         self.createListSensors()
+
+        self.addListSection('GPS')
         self.createListGps()
+
+        self.addListSection('GENERAL')
         self.createListGeneral()
 
         self.checkboxResidual = QCheckBox("Residual", self)
@@ -616,14 +621,16 @@ def createBottomToolbar(self):
         self.toolLayout = QHBoxLayout()
         self.toolLayout.addWidget(self.mplots[0].toolbar)
 
-        self.popPlotButton = QPushButton("Pop Plot")
-        self.popPlotButton.setToolTip("Open current plot in separate dialog window.")
-        self.popPlotButton.clicked.connect(self.popPlot)
-        self.toolLayout.addWidget(self.popPlotButton)
         self.hideControlButton = QPushButton("Hide Panel")
         self.hideControlButton.setToolTip("Hide/show left side control panel of the LogInspector.")
         self.hideControlButton.clicked.connect(self.hideControl)
         self.toolLayout.addWidget(self.hideControlButton)
+
+        self.popPlotButton = QPushButton("New Plot")
+        self.popPlotButton.setToolTip("Open current plot in separate dialog window.")
+        self.popPlotButton.clicked.connect(self.popPlot)
+        self.toolLayout.addWidget(self.popPlotButton)
+
         self.newAppButton = QPushButton("New App")
         self.newAppButton.setToolTip("Open a new instance of the LogInspector.")
         self.newAppButton.clicked.connect(self.newWindow)

python/logInspector/logInspectorInternal.py

@@ -79,6 +79,8 @@ def createListIns(self):
         self.addListItem('EKF Biases', 'ekfBiases')
 
     def createListSensors(self):
+        self.addListItem('IMU 3 PQR', 'imu3PQR')
+        self.addListItem('IMU 3 Accel', 'imu3Acc')
         super(logInspectorInternal, self).createListSensors()
         self.addListItem('Allan Var. PQR', 'allanVariancePQR')
         self.addListItem('Allan Var. Accel', 'allanVarianceAcc')

python/logInspector/logPlotter.py

@@ -2064,13 +2064,13 @@ def gnssEphemeris(self, fig=None, axs=None):
                 b.yaxis.set_major_locator(MaxNLocator(integer=True))
 
 
-    def loadGyros(self, device):
-        return self.loadIMU(device, 0)
+    def loadGyros(self, device, forceImu3=False):
+        return self.loadIMU(device, accelSensor=0, forceImu3=forceImu3)
 
-    def loadAccels(self, device):
-        return self.loadIMU(device, 1)
+    def loadAccels(self, device, forceImu3=False):
+        return self.loadIMU(device, accelSensor=1, forceImu3=forceImu3)
 
-    def loadIMU(self, device, accelSensor):   # 0 = gyro, 1 = accelerometer
+    def loadIMU(self, device, accelSensor, forceImu3=False):   # 0 = gyro, 1 = accelerometer
         imu1 = None
         imu2 = None
         imu3 = None
@@ -2085,7 +2085,7 @@ def loadIMU(self, device, accelSensor):   # 0 = gyro, 1 = accelerometer
         else:
             imu1 = np.copy(self.getData(device, DID_PIMU, 'vel'))
 
-        if np.shape(imu1)[0] != 0:  # DID_PIMU
+        if np.shape(imu1)[0] != 0 and not forceImu3:  # DID_PIMU
             # time = self.getData(device, DID_IMU_RAW, 'time')     # to plot raw gyro data
             time = self.getData(device, DID_PIMU, 'time')
             dt = self.getData(device, DID_PIMU, 'dt') 
@@ -2118,7 +2118,7 @@ def loadIMU(self, device, accelSensor):   # 0 = gyro, 1 = accelerometer
             else:  
                 time = self.getData(device, DID_IMU, 'time')
 
-                if len(time) != 0:  # DID_IMU
+                if len(time) != 0 and not forceImu3:  # DID_IMU
                     I = self.getData(device, DID_IMU, 'I')
                     dt = time[1:] - time[:-1]
                     dt = np.append(dt, dt[-1])
@@ -2166,7 +2166,13 @@ def loadIMU(self, device, accelSensor):   # 0 = gyro, 1 = accelerometer
 
         return (time, dt, imu1, imu2, imu3, imuCount)
 
-    def imuPQR(self, fig=None, axs=None):
+    def imu3PQR(self, fig=None, axs=None):
+        self.imuPQR(fig, axs, forceImu3=True)
+
+    def imu3Acc(self, fig=None, axs=None):
+        self.imuAcc(fig, axs, forceImu3=True)
+
+    def imuPQR(self, fig=None, axs=None, forceImu3=False):
         if fig is None:
             fig = plt.figure()
 
@@ -2182,21 +2188,21 @@ def imuPQR(self, fig=None, axs=None):
                 refTime.append(refTime_)
 
         fig.suptitle('PQR - ' + os.path.basename(os.path.normpath(self.log.directory)))
-        (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(0)
+        (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(0, forceImu3)
 
         plotResidual = pqrCount==1 and self.residual 
         if pqrCount:
             ax = fig.subplots(3, (2 if plotResidual else pqrCount), sharex=True, squeeze=False)
         if plotResidual:
             for d in self.active_devs:
                 if self.log.serials[d] == 'Ref INS':
-                    (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(d)
+                    (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(d, forceImu3)
                     refTime = time
                     refPqr = pqr0
                     continue
 
         for dev_idx, d in enumerate(self.active_devs):
-            (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(d)
+            (time, dt, pqr0, pqr1, pqr2, pqrCount) = self.loadGyros(d, forceImu3)
             if pqrCount:
                 for i in range(3):
                     axislable = 'P' if (i == 0) else 'Q' if (i==1) else 'R'
@@ -2243,7 +2249,7 @@ def imuPQR(self, fig=None, axs=None):
         self.setup_and_wire_legend()
         return self.saveFigJoinAxes(ax, axs, fig, 'pqrIMU')
 
-    def imuAcc(self, fig=None, axs=None):
+    def imuAcc(self, fig=None, axs=None, forceImu3=False):
         if fig is None:
             fig = plt.figure()
 
@@ -2258,21 +2264,21 @@ def imuAcc(self, fig=None, axs=None):
                 refTime.append(refTime_)
 
         fig.suptitle('Accelerometer - ' + os.path.basename(os.path.normpath(self.log.directory)))
-        (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(0)
+        (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(0, forceImu3)
 
         plotResidual = accCount==1 and self.residual 
         if accCount:
             ax = fig.subplots(3, (2 if plotResidual else accCount), sharex=True, squeeze=False)
         if plotResidual:
             for d in self.active_devs:
                 if self.log.serials[d] == 'Ref INS':
-                    (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(d)
+                    (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(d, forceImu3)
                     refTime = time
                     refAcc = acc0
                     continue
 
         for dev_idx, d in enumerate(self.active_devs):
-            (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(d)
+            (time, dt, acc0, acc1, acc2, accCount) = self.loadAccels(d, forceImu3)
             if accCount:
                 for i in range(3):
                     axislable = 'X' if (i == 0) else 'Y' if (i==1) else 'Z'