ardupilot/Tools/LogAnalyzer/tests/TestVibration.py

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2017-07-21 20:09:51 -03:00
from __future__ import print_function
from LogAnalyzer import Test, TestResult
import DataflashLog
from VehicleType import VehicleType
import numpy
class TestVibration(Test):
'''test for accelerometer vibration (accX/accY/accZ) within recommendations'''
def __init__(self):
Test.__init__(self)
self.name = "Vibration"
def run(self, logdata, verbose):
self.result = TestResult()
if logdata.vehicleType != VehicleType.Copter:
self.result.status = TestResult.StatusType.NA
return
# constants
gravity = -9.81
aimRangeWarnXY = 1.5
aimRangeFailXY = 3.0
aimRangeWarnZ = 2.0 # gravity +/- aim range
aimRangeFailZ = 5.0 # gravity +/- aim range
if not "IMU" in logdata.channels:
self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No IMU log data"
return
# find some stable LOITER data to analyze, at least 10 seconds
chunks = DataflashLog.DataflashLogHelper.findLoiterChunks(logdata, minLengthSeconds=10, noRCInputs=True)
if not chunks:
self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No stable LOITER log data found"
return
# for now we'll just use the first (largest) chunk of LOITER data
# TODO: ignore the first couple of secs to avoid bad data during transition - or can we check more analytically that we're stable?
# TODO: accumulate all LOITER chunks over min size, or just use the largest one?
startLine = chunks[0][0]
endLine = chunks[0][1]
#print("TestVibration using LOITER chunk from lines %s to %s" % (repr(startLine), repr(endLine)))
def getStdDevIMU(logdata, channelName, startLine,endLine):
loiterData = logdata.channels["IMU"][channelName].getSegment(startLine,endLine)
numpyData = numpy.array(loiterData.dictData.values())
return numpy.std(numpyData)
# use 2x standard deviations as the metric, so if 95% of samples lie within the aim range we're good
stdDevX = abs(2 * getStdDevIMU(logdata,"AccX",startLine,endLine))
stdDevY = abs(2 * getStdDevIMU(logdata,"AccY",startLine,endLine))
stdDevZ = abs(2 * getStdDevIMU(logdata,"AccZ",startLine,endLine))
if (stdDevX > aimRangeFailXY) or (stdDevY > aimRangeFailXY) or (stdDevZ > aimRangeFailZ):
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = "Vibration too high (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (stdDevX,stdDevY,stdDevZ)
elif (stdDevX > aimRangeWarnXY) or (stdDevY > aimRangeWarnXY) or (stdDevZ > aimRangeWarnZ):
self.result.status = TestResult.StatusType.WARN
self.result.statusMessage = "Vibration slightly high (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (stdDevX,stdDevY,stdDevZ)
else:
self.result.status = TestResult.StatusType.GOOD
self.result.statusMessage = "Good vibration values (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (stdDevX,stdDevY,stdDevZ)