Requirements
- Target platform
- OpenClaw
- Install method
- Manual import
- Extraction
- Extract archive
- Prerequisites
- OpenClaw
- Primary doc
- SKILL.md
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Pywayne Calibration Magnetometer Calibration
Sensor calibration toolkit with magnetometer calibration using close-form method. Use when calibrating IMU sensors (accelerometer, gyroscope, magnetometer) t...
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Sensor calibration toolkit with magnetometer calibration using close-form method. Use when calibrating IMU sensors (accelerometer, gyroscope, magnetometer) t...
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- Tencent SkillHub
- What's included
- SKILL.md
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Trust & source
Release facts
- Source
- Tencent SkillHub
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- Indexed source record
- Version
- 0.1.0
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- wangyendt
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Documentation
Pywayne Calibration
pywayne.calibration.MagnetometerCalibrator provides magnetometer calibration using sensor data (accelerometer, gyroscope, magnetometer).
Quick Start
from pywayne.calibration import MagnetometerCalibrator import numpy as np # Sensor data: ts (N,), acc (N,3), gyro (N,3), mag (N,3) calibrator = MagnetometerCalibrator(method='close_form') Sm, h = calibrator.process(ts, acc, gyro, mag) # Sm: Soft-iron matrix (3x3) # h: Hard-iron offset vector (3,)
Input Data Format
Sensor data must be numpy arrays with matching sample counts: ts # (N,) - Timestamps (seconds) acc # (N, 3) - Accelerometer [ax, ay, az] gyro # (N, 3) - Gyroscope [gx, gy, gz] mag # (N, 3) - Magnetometer [mx, my, mz] Data requirements: Sensor data should cover various orientations for effective calibration Minimum data points required (exact number depends on calibration stability) Arrays must be C-contiguous (auto-converted internally)
Calibration Parameters
process() returns: ParameterShapeDescriptionSm(3, 3)Soft-iron matrixh(3,)Hard-iron offset vector
Usage in Application
Apply calibration to raw magnetometer readings: # Calibrated reading m_calibrated = Sm @ (m_raw - h)
Temporal Calibration
Temporal calibration module exists but is reserved for future expansion. Currently no functionality is implemented.
Important Notes
Dependencies: Requires vqf (VQF quaternion filter) and qmt (quaternion math) modules Method: Currently only supports close_form method Orientation: Uses VQF for sensor fusion and orientation estimation during calibration Output: Prints calibration parameters during processing
Category context
Code helpers, APIs, CLIs, browser automation, testing, and developer operations.
Source: Tencent SkillHub
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Package contents
Included in package
1 Docs
- SKILL.md