mirror of https://github.com/ArduPilot/ardupilot
33 lines
1.4 KiB
Python
33 lines
1.4 KiB
Python
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from LogAnalyzer import Test,TestResult
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import DataflashLog
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class TestGPSGlitch(Test):
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'''test for bad GPS data (satellite count, hdop), and later for sudden repositioning beyond what the drone could do'''
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def __init__(self):
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self.name = "GPS"
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def run(self, logdata):
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self.result = TestResult()
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# define and check different thresholds for WARN level and FAIL level
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minSatsWARN = 6
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minSatsFAIL = 5
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maxHDopWARN = 3.0
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maxHDopFAIL = 10.0
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foundBadSatsWarn = logdata.channels["GPS"]["NSats"].min() < minSatsWARN
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foundBadHDopWarn = logdata.channels["GPS"]["HDop"].max() > maxHDopWARN
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foundBadSatsFail = logdata.channels["GPS"]["NSats"].min() < minSatsFAIL
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foundBadHDopFail = logdata.channels["GPS"]["HDop"].max() > maxHDopFAIL
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if foundBadSatsFail or foundBadHDopFail:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())
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elif foundBadSatsWarn or foundBadHDopWarn:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())
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else:
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self.result.status = TestResult.StatusType.PASS
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# TODO: also test for sudden repositioning beyond what the drone could reasonably achieve
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# ...
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