ardupilot/Tools/LogAnalyzer/tests/TestGPSGlitch.py

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# AP_FLAKE8_CLEAN
from LogAnalyzer import Test, TestResult
class TestGPSGlitch(Test):
'''test for GPS glitch reporting or bad GPS data (satellite count, hdop)'''
def __init__(self):
Test.__init__(self)
self.name = "GPS"
def findSatsChan(self, channels):
for chan in "NSats", "NSat", "numSV":
if chan in channels:
return channels[chan]
def findHDopChan(self, channels):
for chan in "HDop", "HDp", "EPH":
if chan in channels:
return channels[chan]
def run(self, logdata, verbose):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
if "GPS" not in logdata.channels:
self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No GPS log data"
return
# glitch protection is currently copter-only, but might be
# added to other vehicle types later and there's no harm in
# leaving the test in for all
gpsGlitchCount = 0
if "ERR" in logdata.channels:
assert len(logdata.channels["ERR"]["Subsys"].listData) == len(logdata.channels["ERR"]["ECode"].listData)
for i in range(len(logdata.channels["ERR"]["Subsys"].listData)):
subSys = logdata.channels["ERR"]["Subsys"].listData[i][1]
eCode = logdata.channels["ERR"]["ECode"].listData[i][1]
if subSys == 11 and (eCode == 2):
gpsGlitchCount += 1
if gpsGlitchCount:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = "GPS glitch errors found (%d)" % gpsGlitchCount
# define and check different thresholds for WARN level and
# FAIL level
# TODO: for plane, only check after first instance of throttle
# > 0, or after takeoff if we can reliably detect it
minSatsWARN = 6
minSatsFAIL = 5
maxHDopWARN = 3.0
maxHDopFAIL = 10.0
satsChan = self.findSatsChan(logdata.channels["GPS"])
hdopChan = self.findHDopChan(logdata.channels["GPS"])
foundBadSatsWarn = satsChan.min() < minSatsWARN
foundBadHDopWarn = hdopChan.max() > maxHDopWARN
foundBadSatsFail = satsChan.min() < minSatsFAIL
foundBadHDopFail = hdopChan.max() > maxHDopFAIL
satsMsg = "Min satellites: %s, Max HDop: %s" % (satsChan.min(), hdopChan.max())
if gpsGlitchCount:
self.result.statusMessage = "\n".join([self.result.statusMessage, satsMsg])
if foundBadSatsFail or foundBadHDopFail:
if not gpsGlitchCount:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = satsMsg
elif foundBadSatsWarn or foundBadHDopWarn:
if not gpsGlitchCount:
self.result.status = TestResult.StatusType.WARN
self.result.statusMessage = satsMsg