LogAnalyzer: added GPS glitch detection to GPS test

Tools/LogAnalyzer/DataflashLog.py

@@ -8,6 +8,7 @@ import pprint  # temp
 import collections
 import os
 import numpy
+import bisect
 
 
 class Format:
@@ -50,6 +51,7 @@ class Channel:
 	def avg(self):
 		return numpy.mean(self.dictData.values())
 	def getNearestValue(self, lineNumber, lookForwards=True):
+		# TODO: redo Channel.getNearestValue() using listData and bisect, profile speed of TestUnderpowered before/after
 		'''find the nearest data value to the given lineNumber, defaults to looking forwards. Returns (value,lineNumber)'''
 		if lineNumber in self.dictData:
 			return (self.dictData[lineNumber], lineNumber)
@@ -72,6 +74,11 @@ class Channel:
 			return prevValue
 		weight = (lineNumber-prevValueLine) / float(nextValueLine-prevValueLine)
 		return ((weight*prevValue) + ((1-weight)*nextValue))
+	def getIndexOf(self, lineNumber):
+		index = bisect.bisect_left(self.listData, (lineNumber,0)) - 1
+		print "INDEX: %d" % index 
+		assert(self.listData[index][0] == lineNumber)
+		return index
 
 # class LogIterator:
 # 	'''Smart iterator that can move through a log by line number and maintain an index into the nearest values of all data channels'''
@@ -217,8 +224,8 @@ class DataflashLog:
 	def read(self, logfile, ignoreBadlines=False):
 		'''returns True on successful log read (including bad lines if ignoreBadlines==True), False otherwise'''
 		# TODO: dataflash log parsing code is *SUPER* hacky, should re-write more methodically
-		# TODO: identify and bail on pre-3.0 logs, I think they're not worth supporting at this point
+		# TODO: fix error handling of logfile reading, return code vs exception, error message reporting
-
+		# TODO: report number of lines skipped during read
 		self.filename = logfile
 		f = open(self.filename, 'r')
 		lineNumber = 0
@@ -311,6 +318,7 @@ class DataflashLog:
 		# gather some general stats about the log
 		self.lineCount  = lineNumber
 		self.filesizeKB = os.path.getsize(self.filename) / 1024.0
+		# TODO: switch duration calculation to use TimeMS values rather than GPS timestemp
 		if "GPS" in self.channels:
 			# the GPS time label changed at some point, need to handle both
 			timeLabel = "TimeMS"

Tools/LogAnalyzer/LogAnalyzer.py

@@ -118,7 +118,7 @@ class TestSuite:
 				print "  %20s:  UNKNOWN    %-50s%s" % (test.name, test.result.statusMessage,execTime)
 			if test.result.extraFeedback:
 				for line in test.result.extraFeedback.strip().split('\n'):
-					print "  %20s     %s" % ("",line)
+					print "  %29s     %s" % ("",line)
 
 		print '\n'
 		print 'The Log Analyzer is currently BETA code.\nFor any support or feedback on the log analyzer please email Andrew Chapman (amchapman@gmail.com)'

Tools/LogAnalyzer/tests/TestBalanceTwist.py

@@ -7,12 +7,13 @@ class TestBalanceTwist(Test):
 
 	def __init__(self):
 		self.name = "Balance/Twist"
+		self.enable = False   # TEMP
 		
 	def run(self, logdata):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
-		if logdata.vehicleType == "ArduPlane":
+		if logdata.vehicleType != "ArduCopter":
 			self.result.status = TestResult.StatusType.NA
 
 		# TODO: implement copter test for unbalanced or twisted copter frame

Tools/LogAnalyzer/tests/TestGPSGlitch.py

@@ -3,7 +3,7 @@ import DataflashLog
 
 
 class TestGPSGlitch(Test):
-	'''test for bad GPS data (satellite count, hdop), and later for sudden repositioning beyond what the drone could do'''
+	'''test for GPS glitch reporting or bad GPS data (satellite count, hdop)'''
 
 	def __init__(self):
 		self.name = "GPS"
@@ -17,7 +17,21 @@ class TestGPSGlitch(Test):
 			self.result.statusMessage = "No GPS log data"
 			return
 
+		# glitch protection is currently copter-only, but might be added to other vehicle types later and there's no harm in leaving the test in for all
+		gpsGlitchCount = 0
+		if "ERR" in logdata.channels:
+			assert(len(logdata.channels["ERR"]["Subsys"].listData) == len(logdata.channels["ERR"]["ECode"].listData))
+			for i in range(len(logdata.channels["ERR"]["Subsys"].listData)):
+				subSys = logdata.channels["ERR"]["Subsys"].listData[i][1]
+				eCode  = logdata.channels["ERR"]["ECode"].listData[i][1]
+			 	if subSys == 11 and (eCode == 2):
+			 		gpsGlitchCount += 1
+ 		if gpsGlitchCount:
+			self.result.status = TestResult.StatusType.FAIL
+			self.result.statusMessage = "GPS glitch errors found (%d)" % gpsGlitchCount
+
 		# define and check different thresholds for WARN level and FAIL level
+		# TODO: for plane, only check after first instance of throttle > 0, or after takeoff if we can reliably detect it
 		minSatsWARN = 6
 		minSatsFAIL = 5
 		maxHDopWARN = 3.0
@@ -26,12 +40,14 @@ class TestGPSGlitch(Test):
 		foundBadHDopWarn = logdata.channels["GPS"]["HDop"].max()  > maxHDopWARN
 		foundBadSatsFail = logdata.channels["GPS"]["NSats"].min() < minSatsFAIL
 		foundBadHDopFail = logdata.channels["GPS"]["HDop"].max()  > maxHDopFAIL
+		satsMsg = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())	
+		if gpsGlitchCount:
+			self.result.extraFeedback = satsMsg
 		if foundBadSatsFail or foundBadHDopFail:
-			self.result.status = TestResult.StatusType.FAIL
+			if not gpsGlitchCount:
-			self.result.statusMessage = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())
+				self.result.status = TestResult.StatusType.FAIL
+				self.result.statusMessage = satsMsg
 		elif foundBadSatsWarn or foundBadHDopWarn:
-			self.result.status = TestResult.StatusType.WARN
+			if not gpsGlitchCount:
-			self.result.statusMessage = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())			
+				self.result.status = TestResult.StatusType.WARN
-
+				self.result.statusMessage = satsMsg
-		# TODO: also test for sudden repositioning beyond what the drone could reasonably achieve, like is done with glitch protection - or is that logged when it happens?
-		# ...

Tools/LogAnalyzer/tests/TestParams.py

@@ -50,6 +50,9 @@ class TestParams(Test):
 		elif logdata.vehicleType == "ArduPlane":
 			# TODO: add parameter checks for plane...
 			pass
+		elif logdata.vehicleType == "ArduRover":
+			# TODO: add parameter checks for rover...
+			pass
 
 		if self.result.status == TestResult.StatusType.FAIL:
 			self.result.statusMessage = "Bad parameters found:"

Tools/LogAnalyzer/tests/TestPerformance.py

@@ -12,6 +12,7 @@ class TestPerformance(Test):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
+		# this test should be valid for all vehicle types, just need to figure out why PM logging data is different in each
 		if logdata.vehicleType != "ArduCopter":
 			self.result.status = TestResult.StatusType.NA
 			return

Tools/LogAnalyzer/tests/TestPitchRollCoupling.py

@@ -13,6 +13,14 @@ class TestPitchRollCoupling(Test):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
+		if logdata.vehicleType != "ArduCopter":
+			self.result.status = TestResult.StatusType.NA
+
+		if not "ATT" in logdata.channels:
+			self.result.status = TestResult.StatusType.UNKNOWN
+			self.result.statusMessage = "No ATT log data"
+			return
+
 		# TODO: implement pitch/roll input/output divergence testing - 
 
 		# note: names changed from PitchIn to DesPitch at some point, check for both
@@ -27,10 +35,9 @@ class TestPitchRollCoupling(Test):
 
 
 		# figure out where each mode begins and ends, so we can treat auto and manual modes differently
-		# TODO: fill in all known modes here 
+		autoModes   = ["RTL","AUTO","LAND","LOITER","GUIDED","CIRCLE","OF_LOITER"]     # use NTUN DRol+DPit
-		autoModes   = ["RTL","AUTO","LAND","LOITER"]     # use NTUN DRol+DPit
+		manualModes = ["STABILIZE","DRIFT","ALT_HOLD"]                                 # use CTUN RollIn/DesRoll + PitchIn/DesPitch
-		manualModes = ["STABILIZE","DRIFT","ALT_HOLD"]   # use CTUN RollIn/DesRoll + PitchIn/DesPitch
+		ignoreModes = ["ACRO","SPORT","FLIP","AUTOTUNE"]                               # ignore data from these modes
-		acroModes   = ["ACRO","SPORT"]                   # ignore data from acro modes
 		autoSegments   = []  # list of (startLine,endLine) pairs
 		manualSegments = []  # list of (startLine,endLine) pairs
 		orderedModes = collections.OrderedDict(sorted(logdata.modeChanges.items(), key=lambda t: t[0]))
@@ -39,25 +46,45 @@ class TestPitchRollCoupling(Test):
 		for line,modepair in orderedModes.iteritems():
 			mode = modepair[0].upper()
 			if mode in autoModes:
-				print "On line %d mode changed to %s (AUTO)" % (line,mode)
+				print "On line %d mode changed to %s (AUTO)" % (line,mode)   # TEMP
 				if not isAuto:
 					manualSegments.append((prevLine,line-1))
-					print "  Previous manual segment: " + `(prevLine,line-1)`
+					print "  Previous manual segment: " + `(prevLine,line-1)`   # TEMP
+					prevLine = line
 				isAuto = True
 			elif mode in manualModes:
-				print "On line %d mode changed to %s (MANUAL)" % (line,mode)
+				print "On line %d mode changed to %s (MANUAL)" % (line,mode)   # TEMP
 				if isAuto:
 					autoSegments.append((prevLine,line-1))
-					print "  Previous auto segment: " + `(prevLine,line-1)`
+					print "  Previous auto segment: " + `(prevLine,line-1)`   # TEMP
+					prevLine = line
 				isAuto = False
-			elif mode in acroModes:
+			elif mode in ignoreModes:
 				pass
 			else:
-				raise Exception("Unknown mode: %s" % mode)
+				raise Exception("Unknown mode in TestPitchRollCoupling: %s" % mode)
-			prevLine = line
+
-			if isAuto:
+		# look through manual segments
-				autoSegments.append((prevLine,logdata.lineCount))
+		for startLine,endLine in manualSegments:
-				print "  Previous auto segment: " + `(prevLine,logdata.lineCount)`
+			(value,attLine) = logdata.channels["ATT"]["Roll"].getNearestValue(startLine, lookForwards=True)
-			else:
+			print "Nearest ATT line after %d is %d" % (startLine,attLine)
-				manualSegments.append((prevLine,logdata.lineCount))
+			index = logdata.channels["ATT"]["Roll"].getIndexOf(attLine)
-				print "  Previous manual segment: " + `(prevLine,logdata.lineCount)`
+			print "First ATT line in manual segment (%d,%d) is line %d" % (startLine,endLine,logdata.channels["ATT"]["Roll"].listData[index][0])
+
+
+
+
+
+
+
+		# look through auto segments
+		# ...
+
+
+
+
+
+
+
+
+

Tools/LogAnalyzer/tests/TestVibration.py

@@ -14,6 +14,10 @@ class TestVibration(Test):
 	def run(self, logdata):
 		self.result = TestResult()
 
+		if logdata.vehicleType != "ArduCopter":
+			self.result.status = TestResult.StatusType.NA
+			return
+
 		# constants
 		gravity        = -9.81
 		aimRangeWarnXY = 1.5