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IMU kann genullt werden

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Eskimue
2026-05-29 08:52:41 +02:00
parent 5bfd5797fb
commit b4ea4799a9
3 changed files with 160 additions and 3 deletions
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gui/admin.html
+55
View File
@@ -153,8 +153,24 @@
<span class="sr-key">Nord-Offset</span>
<strong id="imu_heading_offset" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-ok"></span>
<span class="sr-key">Roll korr.</span>
<strong id="imu_roll_corrected" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-ok"></span>
<span class="sr-key">Pitch korr.</span>
<strong id="imu_pitch_corrected" class="sr-val">-</strong>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
<span class="sr-key">Neig.-Offset</span>
<strong id="imu_tilt_offset" class="sr-val">-</strong>
</div>
<div class="act-grid">
<button class="act-btn subtle full" onclick="setImuNorth()">Aktuelle Richtung als Norden setzen</button>
<button class="act-btn subtle full" onclick="setImuLevel()">Aktuelle Neigung als Null setzen</button>
</div>
<div class="sr">
<span class="sr-led led-off"></span>
@@ -963,6 +979,10 @@
headingRawDeg: null,
headingCorrectedDeg: null,
headingOffsetDeg: 0,
rollRawDeg: null,
pitchRawDeg: null,
rollOffsetDeg: 0,
pitchOffsetDeg: 0,
error: '--',
lastDataAt: 0,
lastMagAt: 0,
@@ -1072,6 +1092,8 @@
imuRosState.rollPitchYaw = '--';
imuRosState.headingRawDeg = null;
imuRosState.headingCorrectedDeg = null;
imuRosState.rollRawDeg = null;
imuRosState.pitchRawDeg = null;
imuRosState.error = 'Keine ROS-Verbindung';
imuRosState.lastDataAt = 0;
imuRosState.lastMagAt = 0;
@@ -1350,6 +1372,11 @@
setText('imu_heading_raw', dataFresh ? formatHeadingDeg(imuRosState.headingRawDeg) : '--');
setText('imu_heading_corrected', dataFresh ? formatHeadingDeg(imuRosState.headingCorrectedDeg) : '--');
setText('imu_heading_offset', formatHeadingOffsetDeg(imuRosState.headingOffsetDeg));
var corrRoll = dataFresh && imuRosState.rollRawDeg !== null ? imuRosState.rollRawDeg + imuRosState.rollOffsetDeg : null;
var corrPitch = dataFresh && imuRosState.pitchRawDeg !== null ? imuRosState.pitchRawDeg + imuRosState.pitchOffsetDeg : null;
setText('imu_roll_corrected', corrRoll !== null ? corrRoll.toFixed(1) + '°' : '--');
setText('imu_pitch_corrected', corrPitch !== null ? corrPitch.toFixed(1) + '°' : '--');
setText('imu_tilt_offset', 'R ' + imuRosState.rollOffsetDeg.toFixed(1) + '° | P ' + imuRosState.pitchOffsetDeg.toFixed(1) + '°');
setText('imu_error', error || '-');
}
@@ -2663,6 +2690,8 @@
imuRosState.headingCorrectedDeg = Array.isArray(eulerDeg)
? normalizeHeadingDeg(eulerDeg[2] + Number(imuRosState.headingOffsetDeg || 0))
: null;
imuRosState.rollRawDeg = Array.isArray(eulerDeg) ? eulerDeg[0] : null;
imuRosState.pitchRawDeg = Array.isArray(eulerDeg) ? eulerDeg[1] : null;
imuRosState.lastDataAt = Date.now();
if (!imuRosState.error || imuRosState.error === 'Keine ROS-Verbindung' || imuRosState.error === 'Noch keine frischen IMU-Daten') {
imuRosState.error = '';
@@ -2712,6 +2741,11 @@
if (typeof imuHeading.offset_deg === 'number') imuRosState.headingOffsetDeg = imuHeading.offset_deg;
if (typeof imuHeading.raw_heading_deg === 'number') imuRosState.headingRawDeg = imuHeading.raw_heading_deg;
if (typeof imuHeading.corrected_heading_deg === 'number') imuRosState.headingCorrectedDeg = imuHeading.corrected_heading_deg;
var imuTilt = data.imu_tilt || {};
if (typeof imuTilt.roll_offset_deg === 'number') imuRosState.rollOffsetDeg = imuTilt.roll_offset_deg;
if (typeof imuTilt.pitch_offset_deg === 'number') imuRosState.pitchOffsetDeg = imuTilt.pitch_offset_deg;
if (typeof imuTilt.raw_roll_deg === 'number') imuRosState.rollRawDeg = imuTilt.raw_roll_deg;
if (typeof imuTilt.raw_pitch_deg === 'number') imuRosState.pitchRawDeg = imuTilt.raw_pitch_deg;
setAdminStatus(data.status || 'Bereit');
setText('info_ips', system.ips);
setText('info_wifi', system.wifi);
@@ -2806,6 +2840,27 @@
}
}
async function setImuLevel() {
if (!window.confirm('Rover jetzt wirklich waagerecht aufgestellt?')) return;
setAdminStatus('Speichere Neigungsoffset...');
try {
var response = await fetch(adminApiBase + '/api/imu/set-level', { method: 'POST' });
var data = await response.json();
if (!response.ok) throw new Error(data.status || ('status ' + response.status));
var imuTilt = data.imu_tilt || {};
if (typeof imuTilt.roll_offset_deg === 'number') imuRosState.rollOffsetDeg = imuTilt.roll_offset_deg;
if (typeof imuTilt.pitch_offset_deg === 'number') imuRosState.pitchOffsetDeg = imuTilt.pitch_offset_deg;
if (typeof imuTilt.raw_roll_deg === 'number') imuRosState.rollRawDeg = imuTilt.raw_roll_deg;
if (typeof imuTilt.raw_pitch_deg === 'number') imuRosState.pitchRawDeg = imuTilt.raw_pitch_deg;
renderImuRosState();
setAdminStatus(data.status || 'Neigung genullt');
window.setTimeout(fetchStatus, 500);
} catch (error) {
setAdminStatus('Neigungskalibrierung fehlgeschlagen');
alert(error.message || 'Neigung konnte nicht genullt werden.');
}
}
async function fetchDelay() {
try {
var response = await fetch(adminApiBase + '/api/delay');
gui/index.html
+12 -3
View File
@@ -324,6 +324,8 @@ var imuOverlayState = {
pitchDeg: 0,
yawDeg: 0,
yawOffsetDeg: 0,
rollOffsetDeg: 0,
pitchOffsetDeg: 0,
lastUpdateAt: 0
};
@@ -992,12 +994,19 @@ function updateServiceState(payload) {
var system = payload.system || {};
var services = payload.services || {};
var imuHeading = payload.imu_heading || {};
var imuTilt = payload.imu_tilt || {};
var cameraServiceState = String(services.camera || "");
var cameraSettingsVersion = Number(services.camera_settings_version || 0);
if (typeof imuHeading.offset_deg === "number" && !isNaN(imuHeading.offset_deg)) {
imuOverlayState.yawOffsetDeg = Number(imuHeading.offset_deg);
updateImuOverlaySvg();
}
if (typeof imuTilt.roll_offset_deg === "number" && !isNaN(imuTilt.roll_offset_deg)) {
imuOverlayState.rollOffsetDeg = Number(imuTilt.roll_offset_deg);
}
if (typeof imuTilt.pitch_offset_deg === "number" && !isNaN(imuTilt.pitch_offset_deg)) {
imuOverlayState.pitchOffsetDeg = Number(imuTilt.pitch_offset_deg);
}
updateImuOverlaySvg();
updateUndervoltageDisplay(system.undervoltage || "unbekannt", system.undervoltage_state || "unknown");
if (cameraServiceState === "active" && lastCameraServiceState && lastCameraServiceState !== "active") {
setText("cam-state", "Verbinde...");
@@ -1709,8 +1718,8 @@ window.addEventListener("load", function () {
Number(orientation.z || 0),
Number(orientation.w || 1)
]);
imuOverlayState.rollDeg = euler.rollDeg;
imuOverlayState.pitchDeg = euler.pitchDeg;
imuOverlayState.rollDeg = euler.rollDeg + imuOverlayState.rollOffsetDeg;
imuOverlayState.pitchDeg = euler.pitchDeg + imuOverlayState.pitchOffsetDeg;
imuOverlayState.yawDeg = euler.yawDeg;
imuOverlayState.lastUpdateAt = Date.now();
updateImuOverlaySvg();
scripts/exomy_admin_api.py
+93
View File
@@ -32,6 +32,9 @@ CAMERA_RUNTIME_SETTINGS_FILE = '/tmp/exomy_camera_settings.json'
IMU_HEADING_CALIBRATION_FILE = os.path.join(
os.path.dirname(__file__), '..', 'config', 'imu_heading_calibration.json'
)
IMU_TILT_CALIBRATION_FILE = os.path.join(
os.path.dirname(__file__), '..', 'config', 'imu_tilt_calibration.json'
)
MOTOR_TEST_LOCK = threading.Lock()
GPS_PORT_PATTERNS = [
'/dev/serial/by-id/*',
@@ -91,6 +94,8 @@ IMU_ROS_CACHE = {
'magnetic': 'unbekannt',
'quaternion': 'unbekannt',
'roll_pitch_yaw': 'unbekannt',
'roll_deg': None,
'pitch_deg': None,
'error': 'Noch keine IMU-Daten aus ROS',
'heading_deg': None,
'updated_at': 0.0,
@@ -195,6 +200,8 @@ def _on_imu_data_message(message):
), 'rad/s', 3),
quaternion=_format_quaternion(quaternion),
roll_pitch_yaw=_format_euler_deg(euler_deg),
roll_deg=None if not euler_deg else euler_deg[0],
pitch_deg=None if not euler_deg else euler_deg[1],
heading_deg=None if not euler_deg else _normalize_heading_deg(euler_deg[2]),
error='',
)
@@ -856,6 +863,7 @@ def collect_status():
container_details = get_container_details(EXOMY_CONTAINER)
imu_details = read_imu_ros_status()
imu_heading = get_imu_heading_status()
imu_tilt = get_imu_tilt_status()
return {
'status': 'Bereit',
'system': {
@@ -899,6 +907,7 @@ def collect_status():
},
'imu': imu_details,
'imu_heading': imu_heading,
'imu_tilt': imu_tilt,
}
@@ -1142,6 +1151,85 @@ def calibrate_imu_heading_to_north():
}
def get_default_imu_tilt_calibration():
return {
'roll_offset_deg': 0.0,
'pitch_offset_deg': 0.0,
'updated_at': None,
'source': 'default',
}
def read_imu_tilt_calibration():
data = get_default_imu_tilt_calibration()
try:
with open(IMU_TILT_CALIBRATION_FILE, 'r', encoding='utf-8') as handle:
payload = json.load(handle)
data['roll_offset_deg'] = float(payload.get('roll_offset_deg', 0.0))
data['pitch_offset_deg'] = float(payload.get('pitch_offset_deg', 0.0))
data['updated_at'] = payload.get('updated_at')
data['source'] = payload.get('source', 'file')
except (OSError, ValueError, KeyError):
pass
return data
def write_imu_tilt_calibration(roll_offset_deg, pitch_offset_deg):
payload = {
'roll_offset_deg': float(roll_offset_deg),
'pitch_offset_deg': float(pitch_offset_deg),
'updated_at': time.strftime('%Y-%m-%dT%H:%M:%S'),
'source': 'admin',
}
os.makedirs(os.path.dirname(IMU_TILT_CALIBRATION_FILE), exist_ok=True)
with open(IMU_TILT_CALIBRATION_FILE, 'w', encoding='utf-8') as handle:
json.dump(payload, handle, indent=2)
return payload
def get_imu_tilt_status():
calibration = read_imu_tilt_calibration()
with IMU_ROS_LOCK:
raw_roll_deg = IMU_ROS_CACHE.get('roll_deg')
raw_pitch_deg = IMU_ROS_CACHE.get('pitch_deg')
corrected_roll = None if raw_roll_deg is None else raw_roll_deg + calibration['roll_offset_deg']
corrected_pitch = None if raw_pitch_deg is None else raw_pitch_deg + calibration['pitch_offset_deg']
return {
'roll_offset_deg': calibration['roll_offset_deg'],
'pitch_offset_deg': calibration['pitch_offset_deg'],
'raw_roll_deg': raw_roll_deg,
'raw_pitch_deg': raw_pitch_deg,
'corrected_roll_deg': corrected_roll,
'corrected_pitch_deg': corrected_pitch,
'updated_at': calibration['updated_at'],
'source': calibration['source'],
}
def zero_imu_tilt():
with IMU_ROS_LOCK:
raw_roll_deg = IMU_ROS_CACHE.get('roll_deg')
raw_pitch_deg = IMU_ROS_CACHE.get('pitch_deg')
if raw_roll_deg is None or raw_pitch_deg is None:
return 409, {'status': 'Noch keine frischen IMU-Daten für Neigungskalibrierung'}
payload = write_imu_tilt_calibration(-float(raw_roll_deg), -float(raw_pitch_deg))
return 200, {
'status': 'Neigung genullt',
'imu_tilt': {
'roll_offset_deg': payload['roll_offset_deg'],
'pitch_offset_deg': payload['pitch_offset_deg'],
'raw_roll_deg': raw_roll_deg,
'raw_pitch_deg': raw_pitch_deg,
'corrected_roll_deg': 0.0,
'corrected_pitch_deg': 0.0,
'updated_at': payload['updated_at'],
'source': payload['source'],
},
}
def set_camera_config(profile_id=None, fps=None):
current = read_camera_settings()
if profile_id is None:
@@ -2197,6 +2285,11 @@ class Handler(http.server.BaseHTTPRequestHandler):
self.write_json(status_code, response)
return
if self.path == '/api/imu/set-level':
status_code, response = zero_imu_tilt()
self.write_json(status_code, response)
return
actions = {
'/api/cold-start-gps': {
'handler': cold_start_gps_receiver,