Fixed issue with QL355TP driver. Calibration methods validated.

src/calibration.py

@@ -15,12 +15,12 @@ class AmbientFieldCalibration(Thread):
     The magnetometer does not need to be centered. The axes of the magnetometer must match the coil configuration!"""
 
     # Timeout/settling time for the calibration procedure. An acceptable duration for the PI is required
-    SETTLE_TIME = 15
+    SETTLE_TIME = 45
     # PID controller time delta
-    TIME_DELTA = 0.25
-    P_CONTROL = -1e4  # 0.4 A/s slew-rate at 40uT
-    I_CONTROL = -2.5e4  # 0.025 A/s slew-rate for 1uTs
-    I_LIMIT = 1e-6  # uTs, Limit I to 0.025 A/s slew-rate to prevent wind-up
+    TIME_DELTA = 0.5
+    P_CONTROL = -7e3  # 0.2 A/s slew-rate at 40uT
+    I_CONTROL = 0  # -1e4  # 0.01A/s slew-rate for 1uTs
+    I_LIMIT = 1e-7  # uTs, Limit I to 0.025 A/s slew-rate to prevent wind-up
     # D_CONTROL = Not implemented for now
 
     def __init__(self, view_queue):
@@ -105,8 +105,8 @@ class AmbientFieldCalibration(Thread):
 
 class CoilConstantCalibration(Thread):
     MEASUREMENT_RANGE = 3  # A. Will extend into negative and positive sign
-    MEASUREMENT_POINTS = 6  # Excludes zero. eg 0.5, 1, 1.5, 2
-    SETTLE_TIME = 0.5  # Time until new measurement is ready after setting current
+    MEASUREMENT_POINTS = 4  # Excludes zero. eg 0.5, 1, 1.5, 2
+    SETTLE_TIME = 3  # Time until new measurement is ready after setting current
 
     def __init__(self, view_queue):
         Thread.__init__(self)
@@ -179,7 +179,6 @@ class CoilConstantCalibration(Thread):
             k_deviations[i], _ = self.calculate_standard_deviation(k_samples)
 
         # Put device into an off and ready state
-        time.sleep(3)
         self.cage_dev.idle()
 
         angles = {'xy': self.angle_between(axis_field_directions[0], axis_field_directions[1]) * 180 / pi,

src/psu_device.py

@@ -198,8 +198,8 @@ class PSUDeviceQL355TP(PSUDevice):
         # Request current setpoint
         self._serial_object.write("I{}?\n".format(channel_nr).encode())
         resp = self._serial_object.read_until()
-        # Trim whitespace and units
-        current_setp = float(resp.decode().rstrip()[:-1])
+        # Trim whitespace, prefix and units
+        current_setp = float(resp.decode().rstrip()[3:-1])
 
         # Request current voltage
         self._serial_object.write("V{}O?\n".format(channel_nr).encode())
@@ -211,14 +211,14 @@ class PSUDeviceQL355TP(PSUDevice):
         self._serial_object.write("V{}?\n".format(channel_nr).encode())
         resp = self._serial_object.read_until()
         # Trim whitespace and units
-        voltage_setp = float(resp.decode().rstrip()[:-1])
+        voltage_setp = float(resp.decode().rstrip()[3:-1])
 
         # Format should match the provided template in abstract PSUDevice class.
         # The remote_active property is assumed to always be True since it cant be read
         # (it should be since we are talking to it)
         return {'active': output_active, 'remote_active': True,
-                'actual_voltage': voltage, 'limit_voltage': voltage_setp,
-                'actual_current': current, 'limit_current': current_setp}
+                'voltage': voltage, 'voltage_setpoint': voltage_setp,
+                'current': current, 'current_setpoint': current_setp}
 
     def set_output_range(self, channel_nr, value_range):
         """The QL355TP supports various output ranges. We require the 15V/5A mode to achieve the greatest range."""

tools/fgm3d_adapter.py

@@ -28,7 +28,7 @@ while True:
         if ready:
             # Data is not valid otherwise
             # Only use the x y and z values
-            tokens = [float(v) for v in new_line.split(";")[1:-1]]
+            tokens = [float(v.replace(',', '.')) for v in new_line.split(";")[1:-1]]
             axis_fields = [tokens[m[0]]*m[1] for m in axis_mapping]
             axis_fields = ["{:.6e}".format(v) for v in axis_fields]
             s.sendall(("magnetometer_field {} {} {}\n".format(*axis_fields)).encode())