:mod:`km3modules.ahrs`
======================

.. py:module:: km3modules.ahrs

.. autoapi-nested-parse::

   AHRS calibration.

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Module Contents
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Classes
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.. autoapisummary::

   km3modules.ahrs.AHRSCalibrator





Functions
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.. autoapisummary::


   km3modules.ahrs.fit_ahrs
   km3modules.ahrs.get_latest_ahrs_calibration
   km3modules.ahrs._extract_calibration
























.. data:: log
   

   









.. py:class:: AHRSCalibrator

   Bases::class:`km3pipe.Module`

   

   Calculates AHRS yaw, pitch and roll from median A and H of an interval.















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   .. method:: configure(self)

      



   

   .. method:: process(self, blob)

      



   

   .. method:: calibrate(self)

      
      Calculate yaw, pitch and roll from the median of A and H.

      After successful calibration, the `self.A` and `self.H` are reset.
      DOMs with missing AHRS pre-calibration data are skipped.


      :Returns:

          **dict: key=dom_id, value=tuple: (timestamp, du, floor, yaw, pitch, roll)**
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.. function:: fit_ahrs(A, H, Aoff, Arot, Hoff, Hrot)

   
   Calculate yaw, pitch and roll for given A/H and calibration set.

   Author: Vladimir Kulikovsky

   :Parameters:

       **A: list, tuple or numpy.array of shape (3,)**
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       **H: list, tuple or numpy.array of shape (3,)**
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       **Aoff: numpy.array of shape(3,)**
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       **Arot: numpy.array of shape(3, 3)**
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       **Hoff: numpy.array of shape(3,)**
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       **Hrot: numpy.array of shape(3, 3)**
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   :Returns:

       **yaw, pitch, roll**
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.. function:: get_latest_ahrs_calibration(clb_upi, max_version=3, db=None)

   
   Retrieve the latest AHRS calibration data for a given CLB


   :Parameters:

       **clb_upi: str**
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       **max_version: int, maximum version to check, optional**
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       **db: DBManager(), optional**
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   :Returns:

       **Aoff: numpy.array with shape(3,)**
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       **Arot: numpy.array with shape(3,3)**
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       **Hoff: numpy.array with shape(3,)**
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       **Hrot: numpy.array with shape(3,3)**
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       **or None if no calibration found.**
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