Generated Data Simulator (WIP)

airbrakes/data_handling/data_processor.py

@@ -204,7 +204,6 @@ def _calculate_rotated_accelerations(self) -> npt.NDArray[np.float64]:
         Calculates the rotated acceleration vector. Converts gyroscope data into a delta
         quaternion, and adds onto the last quaternion. Will most likely be replaced by IMU
         quaternion data in the future, this is a work-around due to bad datasets.
-
         :return: numpy list of rotated acceleration vector [x,y,z]
         """
 
@@ -229,7 +228,8 @@ def _calculate_rotated_accelerations(self) -> npt.NDArray[np.float64]:
             if any(val is None for val in [x_accel, y_accel, z_accel, gyro_x, gyro_y, gyro_z]):
                 return rotated_accelerations
 
-            # scipy docs for more info: https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html
+            # scipy docs for more info:
+            # https://docs.scipy.org/doc/scipy/reference/generated/scipy.spatial.transform.Rotation.html
             # Calculate the delta quaternion from the angular rates
             delta_rotation = R.from_rotvec([gyro_x * dt, gyro_y * dt, gyro_z * dt])
 
@@ -282,7 +282,7 @@ def _calculate_time_differences(self) -> npt.NDArray[np.float64]:
         This cannot be called on the first update as _last_data_packet is None. Units are in
         seconds.
         :return: A numpy array of the time difference between each data packet and the previous
-            data packet.
+        data packet.
         """
         # calculate the time differences between each data packet
         # We are converting from ns to s, since we don't want to have a velocity in m/ns^2

airbrakes/mock/mock_imu.py

@@ -22,8 +22,6 @@ class MockIMU(IMU):
     and returns data read from a previous log file.
     """
 
-    __slots__ = ("_log_file_path",)
-
     def __init__(
         self,
         log_file_path: Path | bool,
@@ -32,19 +30,17 @@ def __init__(
     ):
         """
         Initializes the object that pretends to be an IMU for testing purposes by reading from a
-            log file.
+        log file.
         :param log_file_path: The path of the log file to read data from.
         :param real_time_simulation: Whether to simulate a real flight by sleeping for a set
-            period, or run at full
-            speed, e.g. for using it in the CI.
+        period, or run at full speed, e.g. for using it in the CI.
         :param start_after_log_buffer: Whether to send the data packets only after the log buffer
-            was filled for Standby state.
+        was filled for Standby state.
         """
-        self._log_file_path = log_file_path
         # Check if the launch data file exists:
         if not log_file_path:
             # Just use the first file in the `launch_data` directory:
-            self._log_file_path = next(iter(Path("launch_data").glob("*.csv")))
+            log_file_path = next(iter(Path("launch_data").glob("*.csv")))
 
         # We don't call the parent constructor as the IMU class has different parameters, so we
         # manually start the process that fetches data from the log file
@@ -61,7 +57,7 @@ def __init__(
         self._data_fetch_process = multiprocessing.Process(
             target=self._fetch_data_loop,
             args=(
-                self._log_file_path,
+                log_file_path,
                 real_time_simulation,
                 start_after_log_buffer,
             ),
@@ -78,9 +74,9 @@ def _read_file(
         Reads the data from the log file and puts it into the shared queue.
         :param log_file_path: the name of the log file to read data from located in scripts/imu_data
         :param real_time_simulation: Whether to simulate a real flight by sleeping for a set period,
-            or run at full speed, e.g. for using it in the CI.
+        or run at full speed, e.g. for using it in the CI.
         :param start_after_log_buffer: Whether to send the data packets only after the log buffer
-            was filled for Standby state.
+        was filled for Standby state.
         """
 
         start_index = 0
@@ -120,7 +116,6 @@ def _read_file(
                 if not self._running.value:
                     break
 
-                imu_data_packet = None
                 fields_dict = {}
 
                 scaled_accel_x = row.get("scaledAccelX")  # raw data packet field

airbrakes/simulation/README.md

@@ -0,0 +1,7 @@
+## Rotation Guide for sim IMU
+
+Vertical orientation of the IMU is described in vector form.
+- Example: If the -x axis of the IMU is facing the sky, the vertical orientation is [-1, 0, 0]
+
+Direction the rocket leans to on the pad is the launch_pad_direction. Ranges from 0 to 360 degrees.
+Important to note that the IMU does not change position inside of the rocket when changing launch pad angle.