LogAnalyzer: balance/twist initial commit

Tools/LogAnalyzer/tests/TestBalanceTwist.py

@@ -3,18 +3,60 @@ import DataflashLog
 
 
 class TestBalanceTwist(Test):
-	'''test for badly unbalanced copter, including yaw twist'''
+    '''test for badly unbalanced copter, including yaw twist'''
+    def __init__(self):
+        Test.__init__(self)
+        self.name = "Balance/Twist"
 
-	def __init__(self):
+    def run(self, logdata, verbose):
-                Test.__init__(self)
+        self.result = TestResult()
-		self.name = "Balance/Twist"
+        self.result.status = TestResult.StatusType.GOOD
-		
-	def run(self, logdata, verbose):
-		self.result = TestResult()
-		self.result.status = TestResult.StatusType.GOOD
 
-		if logdata.vehicleType != "ArduCopter":
+        if logdata.vehicleType != "ArduCopter":
-			self.result.status = TestResult.StatusType.NA
+            self.result.status = TestResult.StatusType.NA
-			return
+            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