mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-04 23:18:29 -04:00
LogAnalyzer: added --verbose flag, added test for MAG interference
This commit is contained in:
Andrew Chapman
Andrew Tridgell
parent
130a2dcb0b
commit
35830f928d
@ -42,7 +42,7 @@ class Test:
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result = None # will be an instance of TestResult after being run
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execTime = None
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enable = True
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def run(self, logdata):
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def run(self, logdata, verbose=False):
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pass
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@ -68,8 +68,7 @@ class TestSuite:
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# m = imp.load_source("m", dirName + '/tests/TestBadParams.py')
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# self.tests.append(m.TestBadParams())
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def run(self, logdata):
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def run(self, logdata, verbose):
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'''run all registered tests in a single call'''
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self.logdata = logdata
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self.logfile = logdata.filename
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@ -77,7 +76,7 @@ class TestSuite:
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# run each test in turn, gathering timing info
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if test.enable:
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startTime = time.time()
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test.run(self.logdata) # RUN THE TEST
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test.run(self.logdata, verbose) # RUN THE TEST
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endTime = time.time()
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test.execTime = 1000 * (endTime-startTime)
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@ -208,6 +207,7 @@ def main():
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parser.add_argument('-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines')
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parser.add_argument('-e', '--empty', metavar='', action='store_const', const=True, help='run an initial check for an empty log')
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parser.add_argument('-x', '--xml', type=str, metavar='XML file', nargs='?', const='', default='', help='write output to specified XML file')
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parser.add_argument('-v', '--verbose', metavar='', action='store_const', const=True, help='verbose output')
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args = parser.parse_args()
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# load the log
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@ -228,7 +228,7 @@ def main():
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#run the tests, and gather timings
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testSuite = TestSuite()
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startTime = time.time()
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testSuite.run(logdata) # run tests
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testSuite.run(logdata, args.verbose) # run tests
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endTime = time.time()
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if args.profile:
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print "Test suite run time: %.2f seconds" % (endTime-startTime)
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@ -9,7 +9,7 @@ class TestBalanceTwist(Test):
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self.name = "Balance/Twist"
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self.enable = False # TEMP
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -9,7 +9,7 @@ class TestBrownout(Test):
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def __init__(self):
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self.name = "Brownout"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -1,6 +1,8 @@
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from LogAnalyzer import Test,TestResult
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import DataflashLog
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import math
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class TestCompass(Test):
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'''test for compass offsets and throttle interference'''
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@ -8,7 +10,7 @@ class TestCompass(Test):
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def __init__(self):
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self.name = "Compass"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -19,7 +21,6 @@ class TestCompass(Test):
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compassOfsX = logdata.parameters["COMPASS_OFS_X"]
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compassOfsY = logdata.parameters["COMPASS_OFS_Y"]
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compassOfsZ = logdata.parameters["COMPASS_OFS_Z"]
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#print "MAG params: %.2f %.2f %.2f" % (compassOfsX,compassOfsY,compassOfsZ)
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if abs(compassOfsX) > maxOffset or abs(compassOfsY) > maxOffset or abs(compassOfsZ) > maxOffset:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Large compass off params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (compassOfsX,compassOfsY,compassOfsZ)
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@ -28,26 +29,79 @@ class TestCompass(Test):
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if "MAG" in logdata.channels:
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errMsg = ""
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if logdata.channels["MAG"]["OfsX"].max() > maxOffset:
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errMsg = errMsg + "\nX: %.2f\n" % logdata.channels["MAG"]["OfsX"].max()
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errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].max()
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err = True
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if logdata.channels["MAG"]["OfsX"].min() < -maxOffset:
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errMsg = errMsg + "\nX: %.2f\n" % logdata.channels["MAG"]["OfsX"].min()
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errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].min()
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err = True
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if logdata.channels["MAG"]["OfsY"].max() > maxOffset:
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errMsg = errMsg + "\nY: %.2f\n" % logdata.channels["MAG"]["OfsY"].max()
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errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].max()
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err = True
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if logdata.channels["MAG"]["OfsY"].min() < -maxOffset:
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errMsg = errMsg + "\nY: %.2f\n" % logdata.channels["MAG"]["OfsY"].min()
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errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].min()
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err = True
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if logdata.channels["MAG"]["OfsZ"].max() > maxOffset:
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errMsg = errMsg + "\nZ: %.2f\n" % logdata.channels["MAG"]["OfsZ"].max()
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errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].max()
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err = True
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if logdata.channels["MAG"]["OfsZ"].min() < -maxOffset:
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errMsg = errMsg + "\nZ: %.2f\n" % logdata.channels["MAG"]["OfsZ"].min()
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errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].min()
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err = True
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if errMsg:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = self.result.statusMessage + "Large compass offset in MAG data:" + errMsg
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self.result.statusMessage = self.result.statusMessage + "Large compass offset in MAG data:" + errMsg + "\n"
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# check for mag field length change, and length outside of recommended range
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if "MAG" in logdata.channels:
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percentDiffThresholdWARN = 0.25
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percentDiffThresholdFAIL = 0.35
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minMagFieldThreshold = 120.0
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maxMagFieldThreshold = 550.0
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index = 0
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length = len(logdata.channels["MAG"]["MagX"].listData)
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magField = []
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(minMagField, maxMagField) = (None,None)
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(minMagFieldLine, maxMagFieldLine) = (None,None)
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while index<length:
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mx = logdata.channels["MAG"]["MagX"].listData[index][1]
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my = logdata.channels["MAG"]["MagY"].listData[index][1]
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mz = logdata.channels["MAG"]["MagZ"].listData[index][1]
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mf = math.sqrt(mx*mx + my*my + mz*mz)
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magField.append(mf)
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if mf<minMagField:
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minMagField = mf
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minMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
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if mf>maxMagField:
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maxMagField = mf
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maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
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if index == 0:
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(minMagField, maxMagField) = (mf,mf)
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index += 1
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percentDiff = (maxMagField-minMagField) / minMagField
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if percentDiff > percentDiffThresholdFAIL:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff*100)
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elif percentDiff > percentDiffThresholdWARN:
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if self.result.status != TestResult.StatusType.FAIL:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = self.result.statusMessage + "Moderate change in mag_field (%.2f%%)\n" % (percentDiff*100)
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else:
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self.result.statusMessage = self.result.statusMessage + "Good mag_field (%.2f%%)\n" % (percentDiff*100)
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if minMagField < minMagFieldThreshold:
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self.result.statusMessage = self.result.statusMessage + "Min mag field length (%.2f) < recommended (%.2f)\n" % (minMagField,minMagFieldThreshold)
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if maxMagField > maxMagFieldThreshold:
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self.result.statusMessage = self.result.statusMessage + "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField,maxMagFieldThreshold)
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if verbose:
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self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (minMagField,minMagFieldLine)
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self.result.statusMessage = self.result.statusMessage + "Max mag_field of %.2f on line %d\n" % (maxMagField,maxMagFieldLine)
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else:
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self.result.statusMessage = self.result.statusMessage + "No MAG data, unable to test mag_field interference\n"
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# TODO: check for compass/throttle interference. Need to add mag_field to logging, or calc our own from MAG data if present
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# TODO: can we derive a compassmot percentage from the params? Fail if >30%?
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@ -34,7 +34,7 @@ class TestDupeLogData(Test):
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return False
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -8,7 +8,7 @@ class TestEmpty(Test):
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def __init__(self):
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self.name = "Empty"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -8,7 +8,7 @@ class TestEvents(Test):
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def __init__(self):
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self.name = "Event/Failsafe"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -8,7 +8,7 @@ class TestGPSGlitch(Test):
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def __init__(self):
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self.name = "GPS"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -29,7 +29,7 @@ class TestParams(Test):
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self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting less than %s\n" % (paramName, `value`, `minValue`)
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS # PASS by default, tests below will override it if they fail
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@ -8,7 +8,7 @@ class TestPerformance(Test):
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def __init__(self):
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self.name = "PM"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -10,7 +10,7 @@ class TestPitchRollCoupling(Test):
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self.name = "Pitch/Roll"
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self.enable = True # TEMP
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -8,7 +8,7 @@ class TestUnderpowered(Test):
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def __init__(self):
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self.name = "Underpowered"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -10,7 +10,7 @@ class TestVCC(Test):
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def __init__(self):
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self.name = "VCC"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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@ -11,7 +11,7 @@ class TestVibration(Test):
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self.name = "Vibration"
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def run(self, logdata):
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def run(self, logdata, verbose):
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self.result = TestResult()
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if logdata.vehicleType != "ArduCopter":
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