compatible with numpy 2.0

Author: hishizuka

modules/helper/setting.py

@@ -262,10 +262,10 @@ def write_config(self):
         c = self.config_parser["SENSOR_IMU"]
         c["AXIS_SWAP_XY_STATUS"] = str(self.config.G_IMU_AXIS_SWAP_XY["STATUS"])
         c["AXIS_CONVERSION_STATUS"] = str(self.config.G_IMU_AXIS_CONVERSION["STATUS"])
-        c["AXIS_CONVERSION_COEF"] = str(list(self.config.G_IMU_AXIS_CONVERSION["COEF"]))
+        c["AXIS_CONVERSION_COEF"] = str(self.config.G_IMU_AXIS_CONVERSION["COEF"].tolist())
         c["MAG_AXIS_SWAP_XY_STATUS"] = str(self.config.G_IMU_MAG_AXIS_SWAP_XY["STATUS"])
         c["MAG_AXIS_CONVERSION_STATUS"] = str(self.config.G_IMU_MAG_AXIS_CONVERSION["STATUS"])
-        c["MAG_AXIS_CONVERSION_COEF"] = str(list(self.config.G_IMU_MAG_AXIS_CONVERSION["COEF"]))
+        c["MAG_AXIS_CONVERSION_COEF"] = str(self.config.G_IMU_MAG_AXIS_CONVERSION["COEF"].tolist())
         c["MAG_DECLINATION"] = str(int(self.config.G_IMU_MAG_DECLINATION))
 
         self.config_parser["DISPLAY_PARAM"] = {}

modules/utils/filters/savitzky_golay.py

@@ -16,7 +16,8 @@ def savitzky_golay(y, window_size, order, deriv=0, rate=1):
     order_range = range(order + 1)
     half_window = (window_size - 1) // 2
     # precompute coefficients
-    b = np.mat(
+    # b = np.mat(
+    b = np.asmatrix(
         [[k**i for i in order_range] for k in range(-half_window, half_window + 1)]
     )
     m = np.linalg.pinv(b).A[deriv] * rate**deriv * factorial(deriv)