ardupilot/Tools/LogAnalyzer/tests/TestIMUMatch.py

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from __future__ import print_function
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from LogAnalyzer import Test,TestResult
import DataflashLog
from math import sqrt
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 = .75
fail_threshold = 1.5
filter_tc = 5.0
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
if ("IMU" in logdata.channels) and (not "IMU2" in logdata.channels):
self.result.status = TestResult.StatusType.NA
self.result.statusMessage = "No IMU2"
return
if (not "IMU" in logdata.channels) or (not "IMU2" in logdata.channels):
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
t = imu1[i]['t']
dt = 0 if last_t is None else t-last_t
dt=min(dt,.1)
next_imu2 = None
for i in range(imu2_index,len(imu2)):
next_imu2 = imu2[i]
imu2_index=i
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
xdiff = imu1[i]['x']-closest_imu2['x']
ydiff = imu1[i]['y']-closest_imu2['y']
zdiff = imu1[i]['z']-closest_imu2['z']
xdiff_filtered += (xdiff-xdiff_filtered)*dt/filter_tc
ydiff_filtered += (ydiff-ydiff_filtered)*dt/filter_tc
zdiff_filtered += (zdiff-zdiff_filtered)*dt/filter_tc
diff_filtered = sqrt(xdiff_filtered**2+ydiff_filtered**2+zdiff_filtered**2)
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max_diff_filtered = max(max_diff_filtered,diff_filtered)
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#print(max_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)
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)
self.result.status = TestResult.StatusType.WARN
else:
self.result.statusMessage = "(Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold, fail_threshold)