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Tools: fixed the filter test tool for instance IMU data 

and use indexed log search
This commit is contained in:
Andrew Tridgell 2022-07-18 15:10:01 +10:00
parent 406d03559f
commit 0d508750bc
1 changed files with 4 additions and 3 deletions
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7
Tools/FilterTestTool/run_filter_test.py
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@ -38,6 +38,7 @@ parser = argparse.ArgumentParser(description='ArduPilot IMU Filter Tester Tool.
parser.add_argument('file', nargs='?', default=None, help='bin log file containing raw IMU logs') parser.add_argument('file', nargs='?', default=None, help='bin log file containing raw IMU logs')
parser.add_argument('--begin-time', '-b', type=int, default=0, help='start from second') parser.add_argument('--begin-time', '-b', type=int, default=0, help='start from second')
parser.add_argument('--end-time', '-e', type=int, default=-1, help='end to second') parser.add_argument('--end-time', '-e', type=int, default=-1, help='end to second')
parser.add_argument('--instance', type=int, default=0, help='IMU instance')
args = parser.parse_args() args = parser.parse_args()
@ -113,7 +114,7 @@ GYR_z = []
params = {} params = {}
while True: while True:
m = mlog._parse_next() m = mlog.recv_match(type=['PARM', 'GYR', 'ACC'])
""" """
@type m DFMessage @type m DFMessage
""" """
@ -142,13 +143,13 @@ while True:
except AttributeError: except AttributeError:
pass pass
if m.fmt.name == "ACC1": if m.fmt.name == "ACC" and m.I == args.instance:
ACC_t.append(m_time_sec) ACC_t.append(m_time_sec)
ACC_x.append(m.AccX) ACC_x.append(m.AccX)
ACC_y.append(m.AccY) ACC_y.append(m.AccY)
ACC_z.append(m.AccZ) ACC_z.append(m.AccZ)
elif m.fmt.name == "GYR1": elif m.fmt.name == "GYR" and m.I == args.instance:
GYR_t.append(m_time_sec) GYR_t.append(m_time_sec)
GYR_x.append(m.GyrX) GYR_x.append(m.GyrX)
GYR_y.append(m.GyrY) GYR_y.append(m.GyrY)