ardupilot/Tools/LogAnalyzer/tests/TestThrust.py

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from LogAnalyzer import Test,TestResult
import DataflashLog
class TestThrust(Test):
'''test for sufficient thrust (copter only for now)'''
def __init__(self):
Test.__init__(self)
self.name = "Thrust"
def run(self, logdata, verbose):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
if logdata.vehicleType != "ArduCopter":
self.result.status = TestResult.StatusType.NA
return
if not "CTUN" in logdata.channels:
self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No CTUN log data"
return
if not "ATT" in logdata.channels:
self.result.status = TestResult.StatusType.UNKNOWN
self.result.statusMessage = "No ATT log data"
return
# check for throttle (CTUN.ThrOut) above 700 for a chunk of time with copter not rising
highThrottleThreshold = 700
tiltThreshold = 20 # ignore high throttle when roll or tilt is above this value
climbThresholdWARN = 100
climbThresholdFAIL = 50
minSampleLength = 50
highThrottleSegments = []
# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if tilt > tiltThreshold, and discard any segments shorter than minSampleLength
start = None
data = logdata.channels["CTUN"]["ThrOut"].listData
for i in range(0,len(data)):
(lineNumber,value) = data[i]
isBelowTiltThreshold = True
if value > highThrottleThreshold:
(roll,meh) = logdata.channels["ATT"]["Roll"].getNearestValue(lineNumber)
(pitch,meh) = logdata.channels["ATT"]["Pitch"].getNearestValue(lineNumber)
if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
isBelowTiltThreshold = False
if (value > highThrottleThreshold) and isBelowTiltThreshold:
if start == None:
start = i
elif start != None:
if (i-start) > minSampleLength:
#print "Found high throttle chunk from line %d to %d (%d samples)" % (data[start][0],data[i][0],i-start+1)
highThrottleSegments.append((start,i))
start = None
climbRate = "CRate"
if "CRate" not in logdata.channels["CTUN"]:
climbRate = "CRt"
# loop through each checking climbRate, if < 50 FAIL, if < 100 WARN
# TODO: we should filter climbRate and use its slope rather than value for this test
for seg in highThrottleSegments:
(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
avgClimbRate = logdata.channels["CTUN"][climbRate].getSegment(startLine,endLine).avg()
avgThrOut = logdata.channels["CTUN"]["ThrOut"].getSegment(startLine,endLine).avg()
if avgClimbRate < climbThresholdFAIL:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
return
if avgClimbRate < climbThresholdWARN:
self.result.status = TestResult.StatusType.WARN
self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)