LogAnalyzer: balance/twist initial commit

Tools/LogAnalyzer/tests/TestBalanceTwist.py

@@ -4,7 +4,6 @@ import DataflashLog
 
 class TestBalanceTwist(Test):
     '''test for badly unbalanced copter, including yaw twist'''
-
     def __init__(self):
         Test.__init__(self)
         self.name = "Balance/Twist"
@@ -17,4 +16,47 @@ class TestBalanceTwist(Test):
             self.result.status = TestResult.StatusType.NA
             return
 
-		# TODO: implement copter test for unbalanced or twisted copter frame
+        self.result.status = TestResult.StatusType.UNKNOWN
+        if not "RCOU" in logdata.channels:
+            return
+
+        ch = []
+
+        for i in range(8):
+            if "Chan"+`(i+1)` in logdata.channels["RCOU"]:
+                ch.append(map(lambda x: x[1], logdata.channels["RCOU"]["Chan"+`(i+1)`].listData))
+            elif "Ch"+`(i+1)` in logdata.channels["RCOU"]:
+                ch.append(map(lambda x: x[1], logdata.channels["RCOU"]["Ch"+`(i+1)`].listData))
+
+        ch = zip(*ch)
+        num_channels = 0
+        for i in range(len(ch)):
+            ch[i] = filter(lambda x: x != 0, ch[i])
+            if num_channels < len(ch[i]):
+                num_channels = len(ch[i])
+
+        if num_channels < 2:
+            return
+
+        min_throttle = logdata.parameters["RC3_MIN"] + logdata.parameters["THR_MIN"] / (logdata.parameters["RC3_MAX"]-logdata.parameters["RC3_MIN"])/1000.0
+        ch = filter(lambda x:sum(x)/num_channels > min_throttle, ch)
+
+        if len(ch) == 0:
+            return
+
+        avg_all = map(lambda x:sum(x)/num_channels,ch)
+        avg_all = sum(avg_all)/len(avg_all)
+        avg_ch = []
+        for i in range(num_channels):
+            avg = map(lambda x: x[i],ch)
+            avg = sum(avg)/len(avg)
+            avg_ch.append(avg)
+
+        self.result.statusMessage = "Motor channel averages = %s\nAverage motor output = %.0f\nDifference between min and max motor averages = %.0f" % (str(avg_ch),avg_all,abs(min(avg_ch)-max(avg_ch)))
+
+        self.result.status = TestResult.StatusType.GOOD
+
+        if abs(min(avg_ch)-max(avg_ch)) > 75:
+            self.result.status = TestResult.StatusType.WARN
+        if abs(min(avg_ch)-max(avg_ch)) > 150:
+            self.result.status = TestResult.StatusType.FAIL