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Code Issues Packages Projects Releases Wiki Activity

Fix calibration

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This commit is contained in:
Thomas Farstrike
2025-12-06 11:57:43 +01:00
parent 5199a92394
commit 7dbc813f4f
1 changed files with 102 additions and 8 deletions
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internal_filesystem/builtin/apps/com.micropythonos.settings/assets/calibrate_imu.py
+102 -8
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@@ -17,6 +17,7 @@ from mpos.app.activity import Activity
import mpos.ui
import mpos.sensor_manager as SensorManager
import mpos.apps
from mpos.ui.testing import wait_for_render
class CalibrationState:
@@ -246,14 +247,106 @@ class CalibrateIMUActivity(Activity):
self.detail_label.set_text("Check IMU connection and try again")
def start_calibration_process(self):
"""Start the calibration process."""
self.set_state(CalibrationState.CHECKING_STATIONARITY)
"""Start the calibration process.
# Run in background thread
_thread.stack_size(mpos.apps.good_stack_size())
_thread.start_new_thread(self.calibration_thread_func, ())
Note: Runs in main thread - UI will freeze during calibration (~1 second).
This avoids threading issues with I2C/sensor access.
"""
try:
print("[CalibrateIMU] === Calibration started ===")
def calibration_thread_func(self):
# Step 1: Check stationarity
print("[CalibrateIMU] Step 1: Checking stationarity...")
self.set_state(CalibrationState.CHECKING_STATIONARITY)
wait_for_render() # Let UI update
if self.is_desktop:
stationarity = {'is_stationary': True, 'message': 'Mock: Stationary'}
else:
print("[CalibrateIMU] Calling SensorManager.check_stationarity(samples=30)...")
stationarity = SensorManager.check_stationarity(samples=30)
print(f"[CalibrateIMU] Stationarity result: {stationarity}")
if stationarity is None or not stationarity['is_stationary']:
msg = stationarity['message'] if stationarity else "Stationarity check failed"
print(f"[CalibrateIMU] Device not stationary: {msg}")
self.handle_calibration_error(
f"Device not stationary!\n\n{msg}\n\nPlace on flat surface and try again.")
return
print("[CalibrateIMU] Device is stationary, proceeding to calibration")
# Step 2: Perform calibration
print("[CalibrateIMU] Step 2: Performing calibration...")
self.set_state(CalibrationState.CALIBRATING)
self.status_label.set_text("Calibrating IMU...\n\nUI will freeze for ~2 seconds\nPlease wait...")
wait_for_render() # Let UI update before blocking
if self.is_desktop:
print("[CalibrateIMU] Mock calibration (desktop)")
time.sleep(2)
accel_offsets = (0.1, -0.05, 0.15)
gyro_offsets = (0.2, -0.1, 0.05)
else:
# Real calibration - UI will freeze here
print("[CalibrateIMU] Real calibration (hardware)")
accel = SensorManager.get_default_sensor(SensorManager.TYPE_ACCELEROMETER)
gyro = SensorManager.get_default_sensor(SensorManager.TYPE_GYROSCOPE)
print(f"[CalibrateIMU] Accel sensor: {accel}, Gyro sensor: {gyro}")
if accel:
print("[CalibrateIMU] Calibrating accelerometer (100 samples)...")
accel_offsets = SensorManager.calibrate_sensor(accel, samples=100)
print(f"[CalibrateIMU] Accel offsets: {accel_offsets}")
else:
accel_offsets = None
if gyro:
print("[CalibrateIMU] Calibrating gyroscope (100 samples)...")
gyro_offsets = SensorManager.calibrate_sensor(gyro, samples=100)
print(f"[CalibrateIMU] Gyro offsets: {gyro_offsets}")
else:
gyro_offsets = None
# Step 3: Verify results
print("[CalibrateIMU] Step 3: Verifying calibration...")
self.set_state(CalibrationState.VERIFYING)
wait_for_render()
if self.is_desktop:
verify_quality = self.get_mock_quality(good=True)
else:
print("[CalibrateIMU] Checking calibration quality (50 samples)...")
verify_quality = SensorManager.check_calibration_quality(samples=50)
print(f"[CalibrateIMU] Verification quality: {verify_quality}")
if verify_quality is None:
print("[CalibrateIMU] Verification failed")
self.handle_calibration_error("Calibration completed but verification failed")
return
# Step 4: Show results
print("[CalibrateIMU] Step 4: Showing results...")
rating = verify_quality['quality_rating']
score = verify_quality['quality_score']
result_msg = f"Calibration successful!\n\nNew quality: {rating} ({score*100:.0f}%)"
if accel_offsets:
result_msg += f"\n\nAccel offsets:\nX:{accel_offsets[0]:.3f} Y:{accel_offsets[1]:.3f} Z:{accel_offsets[2]:.3f}"
if gyro_offsets:
result_msg += f"\n\nGyro offsets:\nX:{gyro_offsets[0]:.3f} Y:{gyro_offsets[1]:.3f} Z:{gyro_offsets[2]:.3f}"
print(f"[CalibrateIMU] Calibration complete! Result: {result_msg[:80]}")
self.show_calibration_complete(result_msg)
print("[CalibrateIMU] === Calibration finished ===")
except Exception as e:
print(f"[CalibrateIMU] Calibration error: {e}")
import sys
sys.print_exception(e)
self.handle_calibration_error(str(e))
def old_calibration_thread_func_UNUSED(self):
"""Background thread for calibration process."""
try:
print("[CalibrateIMU] === Calibration thread started ===")
@@ -337,8 +430,9 @@ class CalibrateIMUActivity(Activity):
if gyro_offsets:
result_msg += f"\n\nGyro offsets:\nX:{gyro_offsets[0]:.3f} Y:{gyro_offsets[1]:.3f} Z:{gyro_offsets[2]:.3f}"
print(f"[CalibrateIMU] Calibration complete! Result: {result_msg[:80]}")
print(f"[CalibrateIMU] Calibration compl ete! Result: {result_msg[:80]}")
self.update_ui_threadsafe_if_foreground(self.show_calibration_complete, result_msg)
print("[CalibrateIMU] === Calibration thread finished ===")
except Exception as e:
@@ -346,7 +440,7 @@ class CalibrateIMUActivity(Activity):
import sys
sys.print_exception(e)
self.update_ui_threadsafe_if_foreground(self.handle_calibration_error, str(e))
def show_calibration_complete(self, result_msg):
"""Show calibration completion message."""
self.status_label.set_text(result_msg)