fix CI

Author: bresch

.github/workflows/lint_python.yml

@@ -4,14 +4,14 @@ jobs:
   lint_python:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
+      - uses: actions/checkout@v3
+      - uses: actions/setup-python@v4
         with:
-          python-version: '3.10.1'
+          python-version: '3.10.12'
       - run: pip install bandit black codespell flake8 isort mypy pytest pyupgrade safety
       - run: bandit --recursive --skip B101 .
       - run: black --check . || true
-      - run: codespell  # --ignore-words-list="" --skip=""
+      - run: codespell  --ignore-words-list= Bu
       - run: flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
       - run: flake8 . --count --exit-zero --max-complexity=10 --max-line-length=88 --show-source --statistics
       - run: isort --check-only --profile black . || true

autotune/data_extractor.py

@@ -202,11 +202,11 @@ def printCppArrays(t_aligned, u_aligned, y_aligned):
         description='Extract identification data from a give .ulg file')
 
     parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str)
-    parser.add_argument('--axis', dest='axis', choices=['x', 'y', 'z'], help='the body axis on interest')
     args = parser.parse_args()
 
     logfile = os.path.abspath(args.logfile) # Convert to absolute path
-    axis = {'x':0, 'y':1, 'z':2}[args.axis]
 
-    (t_aligned, u_aligned, y_aligned, v_aligned) = getInputOutputData(logfile, axis, instance=0)
+    x_field_def = FieldDefinition("vehicle_torque_setpoint", "xyz[0]", 0)
+    y_field_def = FieldDefinition("vehicle_angular_velocity", "xyz[0]", 0)
+    (t_aligned, u_aligned, y_aligned, v_aligned) = DataExtractor(logfile).getInputOutputData(x_field_def, y_field_def)
     printCppArrays(t_aligned, u_aligned, y_aligned)

quaternion_attitude_control/quaternion_attitude_control_test.py

@@ -52,7 +52,7 @@ def plotrotc(q = Quaternion(), p = (0,0,0)):
         q: [optional] body attitude quaternion. Defaults to level.
         p: [optional] 3D body position in space Defaults to origin.
     """
-    # convert the quaternion to a rotation metrix because the columns are the base vectors
+    # convert the quaternion to a rotation matrix because the columns are the base vectors
     R = q.rotation_matrix
     # plot unit vectors from the body position into the 3 base vector directions
     ay.quiver(*p, *R[:,0], color='red')
@@ -241,4 +241,4 @@ def vtoq(src = np.array([0,0,1]), dst = np.array([0,0,1]), eps = 1e-5):
     steps += 1
     print(steps, '\t', p)
 
-plt.show()
+plt.show()