Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools: LogAnalyzer: handle changed RCOU and parameters in motorbalance

This commit is contained in:
Peter Barker 2016-09-08 08:54:50 +10:00
parent f42df1bc54
commit 45bc95edeb
1 changed files with 10 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
Tools/LogAnalyzer/tests/TestMotorBalance.py
View File

@ -1,6 +1,7 @@
from LogAnalyzer import Test,TestResult
import DataflashLog
from VehicleType import VehicleType
class TestBalanceTwist(Test):
'''test for badly unbalanced copter, including yaw twist'''
@ -12,7 +13,7 @@ class TestBalanceTwist(Test):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
if logdata.vehicleType != "ArduCopter":
if logdata.vehicleType != VehicleType.Copter:
self.result.status = TestResult.StatusType.NA
return
@ -23,10 +24,9 @@ class TestBalanceTwist(Test):
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))
for prefix in "Chan", "Ch", "C":
if prefix+`(i+1)` in logdata.channels["RCOU"]:
ch.append(map(lambda x: x[1], logdata.channels["RCOU"][prefix+`(i+1)`].listData))
ch = zip(*ch)
num_channels = 0
@ -38,7 +38,11 @@ class TestBalanceTwist(Test):
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
try:
min_throttle = logdata.parameters["RC3_MIN"] + logdata.parameters["THR_MIN"] / (logdata.parameters["RC3_MAX"]-logdata.parameters["RC3_MIN"])/1000.0
except KeyError as e:
min_throttle = logdata.parameters["MOT_PWM_MIN"] / (logdata.parameters["MOT_PWM_MAX"]-logdata.parameters["RC3_MIN"])/1000.0
ch = filter(lambda x:sum(x)/num_channels > min_throttle, ch)
if len(ch) == 0: