ardupilot/Tools/LogAnalyzer/tests/TestParams.py

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from LogAnalyzer import Test, TestResult
import DataflashLog
from VehicleType import VehicleType
import math # for isnan()
class TestParams(Test):
'''test for any obviously bad parameters in the config'''
def __init__(self):
Test.__init__(self)
self.name = "Parameters"
# helper functions
def __checkParamIsEqual(self, paramName, expectedValue, logdata):
value = logdata.parameters[paramName]
if value != expectedValue:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting %s\n" % (paramName, repr(value), repr(expectedValue))
def __checkParamIsLessThan(self, paramName, maxValue, logdata):
value = logdata.parameters[paramName]
if value >= maxValue:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting less than %s\n" % (paramName, repr(value), repr(maxValue))
def __checkParamIsMoreThan(self, paramName, minValue, logdata):
value = logdata.parameters[paramName]
if value <= minValue:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting less than %s\n" % (paramName, repr(value), repr(minValue))
def run(self, logdata, verbose):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD # GOOD by default, tests below will override it if they fail
# check all params for NaN
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for name,value in logdata.parameters.items():
if math.isnan(value):
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = self.result.statusMessage + name + " is NaN\n"
try:
# add parameter checks below using the helper functions, any failures will trigger a FAIL status and accumulate info in statusMessage
# if more complex checking or correlations are required you can access parameter values directly using the logdata.parameters[paramName] dict
if logdata.vehicleType == VehicleType.Copter:
self.__checkParamIsEqual ("MAG_ENABLE", 1, logdata)
if "THR_MIN" in logdata.parameters:
self.__checkParamIsLessThan("THR_MIN", 200, logdata)
self.__checkParamIsLessThan("THR_MID", 701, logdata)
self.__checkParamIsMoreThan("THR_MID", 299, logdata)
# TODO: add more parameter tests, these are just an example...
elif logdata.vehicleType == VehicleType.Plane:
# TODO: add parameter checks for plane...
pass
elif logdata.vehicleType == VehicleType.Rover:
# TODO: add parameter checks for rover...
pass
if self.result.status == TestResult.StatusType.FAIL:
self.result.statusMessage = "Bad parameters found:\n" + self.result.statusMessage
except KeyError as e:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = str(e) + ' not found'