ardupilot/Tools/LogAnalyzer/tests/TestIMUMatch.py

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# AP_FLAKE8_CLEAN
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from __future__ import print_function
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from math import sqrt
from LogAnalyzer import Test, TestResult
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class TestIMUMatch(Test):
'''test for empty or near-empty logs'''
def __init__(self):
Test.__init__(self)
self.name = "IMU Mismatch"
def run(self, logdata, verbose):
# tuning parameters:
warn_threshold = 0.75
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fail_threshold = 1.5
filter_tc = 5.0
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
if ("IMU" in logdata.channels) and ("IMU2" not in logdata.channels):
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self.result.status = TestResult.StatusType.NA
self.result.statusMessage = "No IMU2"
return
if ("IMU" not in logdata.channels) or ("IMU2" not in logdata.channels):
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self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No IMU log data"
return
imu1 = logdata.channels["IMU"]
imu2 = logdata.channels["IMU2"]
timeLabel = None
for i in 'TimeMS', 'TimeUS', 'Time':
if i in logdata.channels["GPS"]:
timeLabel = i
break
imu1_timems = imu1[timeLabel].listData
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imu1_accx = imu1["AccX"].listData
imu1_accy = imu1["AccY"].listData
imu1_accz = imu1["AccZ"].listData
imu2_timems = imu2[timeLabel].listData
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imu2_accx = imu2["AccX"].listData
imu2_accy = imu2["AccY"].listData
imu2_accz = imu2["AccZ"].listData
imu_multiplier = 1.0e-3
if timeLabel == 'TimeUS':
imu_multiplier = 1.0e-6
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imu1 = []
imu2 = []
for i in range(len(imu1_timems)):
imu1.append(
{
't': imu1_timems[i][1] * imu_multiplier,
'x': imu1_accx[i][1],
'y': imu1_accy[i][1],
'z': imu1_accz[i][1],
}
)
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for i in range(len(imu2_timems)):
imu2.append(
{
't': imu2_timems[i][1] * imu_multiplier,
'x': imu2_accx[i][1],
'y': imu2_accy[i][1],
'z': imu2_accz[i][1],
}
)
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imu1.sort(key=lambda x: x['t'])
imu2.sort(key=lambda x: x['t'])
imu2_index = 0
last_t = None
xdiff_filtered = 0
ydiff_filtered = 0
zdiff_filtered = 0
max_diff_filtered = 0
for i in range(len(imu1)):
# find closest imu2 value
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t = imu1[i]['t']
dt = 0 if last_t is None else t - last_t
dt = min(dt, 0.1)
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next_imu2 = None
for i in range(imu2_index, len(imu2)):
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next_imu2 = imu2[i]
imu2_index = i
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if next_imu2['t'] >= t:
break
prev_imu2 = imu2[imu2_index - 1]
closest_imu2 = next_imu2 if abs(next_imu2['t'] - t) < abs(prev_imu2['t'] - t) else prev_imu2
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xdiff = imu1[i]['x'] - closest_imu2['x']
ydiff = imu1[i]['y'] - closest_imu2['y']
zdiff = imu1[i]['z'] - closest_imu2['z']
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xdiff_filtered += (xdiff - xdiff_filtered) * dt / filter_tc
ydiff_filtered += (ydiff - ydiff_filtered) * dt / filter_tc
zdiff_filtered += (zdiff - zdiff_filtered) * dt / filter_tc
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diff_filtered = sqrt(xdiff_filtered**2 + ydiff_filtered**2 + zdiff_filtered**2)
max_diff_filtered = max(max_diff_filtered, diff_filtered)
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last_t = t
if max_diff_filtered > fail_threshold:
self.result.statusMessage = (
"Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)"
% (max_diff_filtered, warn_threshold, fail_threshold)
)
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self.result.status = TestResult.StatusType.FAIL
elif max_diff_filtered > warn_threshold:
self.result.statusMessage = (
"Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)"
% (max_diff_filtered, warn_threshold, fail_threshold)
)
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self.result.status = TestResult.StatusType.WARN
else:
self.result.statusMessage = "(Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (
max_diff_filtered,
warn_threshold,
fail_threshold,
)