mirror of https://github.com/ArduPilot/ardupilot
LogAnalyzer: updated testCompass to match our prearm check
This commit is contained in:
Jonathan Challinger
Randy Mackay
parent
0955284d7e
commit
a62f1f0f48
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@ -15,42 +15,46 @@ class TestCompass(Test):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.GOOD
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try:
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# test that compass offset parameters are within recommended range (+/- 150)
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maxOffset = 150
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if logdata.hardwareType == "PX4":
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maxOffset = 250 # Pixhawks have their offsets scaled larger
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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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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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def vec_len(x):
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return sqrt(x[0]**2+x[1]**2+x[2]**2)
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def FAIL():
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self.result.status = TestResult.StatusType.FAIL
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def WARN():
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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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try:
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warnOffset = 300
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failOffset = 500
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param_offsets = (
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logdata.parameters["COMPASS_OFS_X"],
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logdata.parameters["COMPASS_OFS_Y"],
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logdata.parameters["COMPASS_OFS_Z"]
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)
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if vec_len(param_offsets) > failOffset:
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FAIL()
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self.result.statusMessage = "FAIL: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (param_offsets[0],param_offsets[1],param_offsets[2])
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elif vec_len(param_offsets) > warnOffset:
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WARN()
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self.result.statusMessage = "WARN: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (param_offsets[0],param_offsets[1],param_offsets[2])
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# check for excessive compass offsets using MAG data if present (it can change during flight is compass learn is on)
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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" % 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" % 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" % 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" % 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" % 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" % 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 + "\n"
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max_log_offsets = zip(
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map(lambda x: x[1],logdata.channels["MAG"]["OfsX"].listData),
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map(lambda x: x[1],logdata.channels["MAG"]["OfsY"].listData),
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map(lambda x: x[1],logdata.channels["MAG"]["OfsZ"].listData)
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)
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max_log_offsets = reduce(lambda x,y: x if vec_len(x) > vec_len(y) else y, max_log_offsets)
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if vec_len(max_log_offsets) > failOffset:
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FAIL()
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self.result.statusMessage += "FAIL: Large compass offset in MAG data (X:%.2f, Y:%.2f, Z:%.2f)\n" % (max_log_offsets[0],max_log_offsets[1],max_log_offsets[2])
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elif vec_len(max_log_offsets) > warnOffset:
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WARN()
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self.result.statusMessage += "WARN: Large compass offset in MAG data (X:%.2f, Y:%.2f, Z:%.2f)\n" % (max_log_offsets[0],max_log_offsets[1],max_log_offsets[2])
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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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@ -84,11 +88,10 @@ class TestCompass(Test):
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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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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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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 + "mag_field interference within limits (%.2f%%)\n" % (percentDiff*100)
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@ -97,8 +100,7 @@ class TestCompass(Test):
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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 zerosFound:
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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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WARN()
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self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
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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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