1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
| #!/usr/bin/env python3
| import sys
|
| log_file = sys.argv[1] if len(sys.argv) > 1 else "calibration_20251204_171502.log"
|
| # 提取FWD_MID_C阶段数据
| fwd_mid_data = []
| with open(log_file, 'r', encoding='utf-8', errors='ignore') as f:
| for line in f:
| if 'FWD_MID_C' in line and line.startswith('$CAL'):
| parts = line.strip().split(',')
| if len(parts) >= 12:
| fwd_mid_data.append({
| 'seq': parts[1],
| 'time_ms': parts[2],
| 'pwm_t': parts[4],
| 'pwm_s': parts[5],
| 'x': parts[6],
| 'y': parts[7],
| 'hdg': parts[9]
| })
|
| print(f"FWD_MID_C 阶段共 {len(fwd_mid_data)} 条数据")
| if len(fwd_mid_data) >= 5:
| print(f"\n首条: seq={fwd_mid_data[0]['seq']}, time={fwd_mid_data[0]['time_ms']}, x={fwd_mid_data[0]['x']}, y={fwd_mid_data[0]['y']}, hdg={fwd_mid_data[0]['hdg']}, pwm={fwd_mid_data[0]['pwm_t']}/{fwd_mid_data[0]['pwm_s']}")
| print(f"第10条: seq={fwd_mid_data[9]['seq']}, time={fwd_mid_data[9]['time_ms']}, x={fwd_mid_data[9]['x']}, y={fwd_mid_data[9]['y']}, hdg={fwd_mid_data[9]['hdg']}, pwm={fwd_mid_data[9]['pwm_t']}/{fwd_mid_data[9]['pwm_s']}")
| print(f"末条: seq={fwd_mid_data[-1]['seq']}, time={fwd_mid_data[-1]['time_ms']}, x={fwd_mid_data[-1]['x']}, y={fwd_mid_data[-1]['y']}, hdg={fwd_mid_data[-1]['hdg']}, pwm={fwd_mid_data[-1]['pwm_t']}/{fwd_mid_data[-1]['pwm_s']}")
|
| # 计算航向变化
| hdg_start = float(fwd_mid_data[0]['hdg'])
| hdg_end = float(fwd_mid_data[-1]['hdg'])
| hdg_change = hdg_end - hdg_start
| print(f"\n航向变化: {hdg_start:.2f}° → {hdg_end:.2f}° (变化 {hdg_change:.2f}°)")
|
| if abs(hdg_change) > 10:
| print("⚠️ 警告：航向变化超过10°，车辆未保持直行！转向补偿值不正确！")
|
|
