mirror of https://github.com/ArduPilot/ardupilot
Tools: LogAnalyzer: remove
the web-based tools are supplanting this
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
faf769d8cd
commit
bdea9be7fb
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@ -26,7 +26,6 @@ on:
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -21,7 +21,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -29,7 +29,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -27,7 +27,6 @@ on:
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -21,7 +21,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -25,7 +25,6 @@ on:
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- 'Tools/GIT_Test/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -19,7 +19,6 @@ on:
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- 'Tools/GIT_Test/**'
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- 'Tools/GIT_Test/**'
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -26,7 +26,6 @@ on:
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -24,7 +24,6 @@ on:
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -31,7 +31,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -30,7 +30,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -30,7 +30,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/simulink/**'
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- 'Tools/simulink/**'
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@ -28,7 +28,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -30,7 +30,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -30,7 +30,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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@ -30,7 +30,6 @@ on:
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/IO_Firmware/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/Replay/**'
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- 'Tools/Replay/**'
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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- 'Tools/gittools/**'
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- 'Tools/gittools/**'
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- 'Tools/Hello/**'
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- 'Tools/Hello/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/Linux_HAL_Essentials/**'
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- 'Tools/LogAnalyzer/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/mavproxy_modules/**'
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- 'Tools/Pozyx/**'
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- 'Tools/Pozyx/**'
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- 'Tools/PrintVersion.py'
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- 'Tools/PrintVersion.py'
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@ -1,820 +0,0 @@
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#
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# Code to abstract the parsing of APM Dataflash log files, currently only used by the LogAnalyzer
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#
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# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
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#
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# AP_FLAKE8_CLEAN
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from __future__ import print_function, division
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import bisect
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import ctypes
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import sys
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import numpy
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from VehicleType import VehicleType, VehicleTypeString
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class Format(object):
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'''Data channel format as specified by the FMT lines in the log file'''
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def __init__(self, msgType, msgLen, name, types, labels):
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self.NAME = 'FMT'
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self.msgType = msgType
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self.msgLen = msgLen
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self.name = name
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self.types = types
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self.labels = labels.split(',')
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def __str__(self):
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return "%8s %s" % (self.name, repr(self.labels))
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@staticmethod
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def trycastToFormatType(value, valueType):
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"""
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Using format characters from libraries/DataFlash/DataFlash.h to cast strings to basic python int/float/string
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types tries a cast, if it does not work, well, acceptable as the text logs do not match the format, e.g. MODE is
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expected to be int
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"""
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try:
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if valueType in "fcCeELd":
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return float(value)
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elif valueType in "bBhHiIMQq":
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return int(value)
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elif valueType in "nNZ":
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return str(value)
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except ValueError:
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pass
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return value
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def to_class(self):
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members = dict(
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NAME=self.name,
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labels=self.labels[:],
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)
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fieldtypes = [i for i in self.types]
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fieldlabels = self.labels[:]
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# field access
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for (label, _type) in zip(fieldlabels, fieldtypes):
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def createproperty(name, format):
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# extra scope for variable sanity
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# scaling via _NAME and def NAME(self): return self._NAME / SCALE
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propertyname = name
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attributename = '_' + name
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p = property(
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lambda x: getattr(x, attributename),
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lambda x, v: setattr(x, attributename, Format.trycastToFormatType(v, format)),
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)
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members[propertyname] = p
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members[attributename] = None
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createproperty(label, _type)
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# repr shows all values but the header
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members['__repr__'] = lambda x: "<{cls} {data}>".format(
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cls=x.__class__.__name__, data=' '.join(["{}:{}".format(k, getattr(x, '_' + k)) for k in x.labels])
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)
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def init(a, *x):
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if len(x) != len(a.labels):
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raise ValueError("Invalid Length")
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for (l, v) in zip(a.labels, x):
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try:
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setattr(a, l, v)
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except Exception as e:
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print("{} {} {} failed".format(a, l, v))
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print(e)
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members['__init__'] = init
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# finally, create the class
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cls = type('Log__{:s}'.format(self.name), (object,), members)
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return cls
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class logheader(ctypes.LittleEndianStructure):
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_fields_ = [
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('head1', ctypes.c_uint8),
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('head2', ctypes.c_uint8),
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('msgid', ctypes.c_uint8),
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]
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def __repr__(self):
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return "<logheader head1=0x{self.head1:x} head2=0x{self.head2:x} msgid=0x{self.msgid:x} ({self.msgid})>".format(
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self=self
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)
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class BinaryFormat(ctypes.LittleEndianStructure):
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NAME = 'FMT'
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MSG = 128
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SIZE = 0
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FIELD_FORMAT = {
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'a': ctypes.c_int16 * 32,
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'b': ctypes.c_int8,
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'B': ctypes.c_uint8,
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'h': ctypes.c_int16,
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'H': ctypes.c_uint16,
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'i': ctypes.c_int32,
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'I': ctypes.c_uint32,
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'f': ctypes.c_float,
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'd': ctypes.c_double,
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'n': ctypes.c_char * 4,
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'N': ctypes.c_char * 16,
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'Z': ctypes.c_char * 64,
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'c': ctypes.c_int16, # * 100,
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'C': ctypes.c_uint16, # * 100,
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'e': ctypes.c_int32, # * 100,
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'E': ctypes.c_uint32, # * 100,
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'L': ctypes.c_int32,
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'M': ctypes.c_uint8,
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'q': ctypes.c_int64,
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'Q': ctypes.c_uint64,
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}
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FIELD_SCALE = {
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'c': 100,
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'C': 100,
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'e': 100,
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'E': 100,
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}
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_packed_ = True
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_fields_ = [
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('head', logheader),
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('type', ctypes.c_uint8),
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|
||||||
('length', ctypes.c_uint8),
|
|
||||||
('name', ctypes.c_char * 4),
|
|
||||||
('types', ctypes.c_char * 16),
|
|
||||||
('labels', ctypes.c_char * 64),
|
|
||||||
]
|
|
||||||
|
|
||||||
def __repr__(self):
|
|
||||||
return "<{cls} {data}>".format(
|
|
||||||
cls=self.__class__.__name__,
|
|
||||||
data=' '.join(["{}:{}".format(k, getattr(self, k)) for (k, _) in self._fields_[1:]]),
|
|
||||||
)
|
|
||||||
|
|
||||||
def to_class(self):
|
|
||||||
labels = self.labels.decode(encoding="utf-8") if self.labels else ""
|
|
||||||
members = dict(
|
|
||||||
NAME=self.name.decode(encoding="utf-8"),
|
|
||||||
MSG=self.type,
|
|
||||||
SIZE=self.length,
|
|
||||||
labels=labels.split(","),
|
|
||||||
_pack_=True,
|
|
||||||
)
|
|
||||||
|
|
||||||
if isinstance(self.types[0], str):
|
|
||||||
fieldtypes = [i for i in self.types]
|
|
||||||
else:
|
|
||||||
fieldtypes = [chr(i) for i in self.types]
|
|
||||||
fieldlabels = members["labels"]
|
|
||||||
if self.labels and (len(fieldtypes) != len(fieldlabels)):
|
|
||||||
print("Broken FMT message for {} .. ignoring".format(self.name), file=sys.stderr)
|
|
||||||
return None
|
|
||||||
|
|
||||||
fields = [('head', logheader)]
|
|
||||||
|
|
||||||
# field access
|
|
||||||
for (label, _type) in zip(fieldlabels, fieldtypes):
|
|
||||||
|
|
||||||
def createproperty(name, format):
|
|
||||||
# extra scope for variable sanity
|
|
||||||
# scaling via _NAME and def NAME(self): return self._NAME / SCALE
|
|
||||||
propertyname = name
|
|
||||||
attributename = '_' + name
|
|
||||||
scale = BinaryFormat.FIELD_SCALE.get(format, None)
|
|
||||||
|
|
||||||
def get_message_attribute(x):
|
|
||||||
ret = getattr(x, attributename)
|
|
||||||
if str(format) in ['Z', 'n', 'N']:
|
|
||||||
ret = ret.decode(encoding="utf-8")
|
|
||||||
return ret
|
|
||||||
|
|
||||||
p = property(get_message_attribute)
|
|
||||||
if scale is not None:
|
|
||||||
p = property(lambda x: getattr(x, attributename) / scale)
|
|
||||||
members[propertyname] = p
|
|
||||||
try:
|
|
||||||
fields.append((attributename, BinaryFormat.FIELD_FORMAT[format]))
|
|
||||||
except KeyError:
|
|
||||||
print('ERROR: Failed to add FMT type: {}, with format: {}'.format(attributename, format))
|
|
||||||
raise
|
|
||||||
|
|
||||||
createproperty(label, _type)
|
|
||||||
members['_fields_'] = fields
|
|
||||||
|
|
||||||
# repr shows all values but the header
|
|
||||||
members['__repr__'] = lambda x: "<{cls} {data}>".format(
|
|
||||||
cls=x.__class__.__name__, data=' '.join(["{}:{}".format(k, getattr(x, k)) for k in x.labels])
|
|
||||||
)
|
|
||||||
|
|
||||||
# finally, create the class
|
|
||||||
cls = type('Log__%s' % self.name, (ctypes.LittleEndianStructure,), members)
|
|
||||||
|
|
||||||
if ctypes.sizeof(cls) != cls.SIZE:
|
|
||||||
print("size mismatch for {} expected {} got {}".format(cls, ctypes.sizeof(cls), cls.SIZE), file=sys.stderr)
|
|
||||||
return None
|
|
||||||
|
|
||||||
return cls
|
|
||||||
|
|
||||||
|
|
||||||
BinaryFormat.SIZE = ctypes.sizeof(BinaryFormat)
|
|
||||||
|
|
||||||
|
|
||||||
class Channel(object):
|
|
||||||
'''storage for a single stream of data, i.e. all GPS.RelAlt values'''
|
|
||||||
|
|
||||||
# TODO: rethink data storage, but do more thorough regression testing before refactoring it
|
|
||||||
# TODO: store data as a scipy spline curve so we can more easily interpolate and sample the slope?
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
# store dupe data in dict and list for now, until we decide which is the better way to go
|
|
||||||
self.dictData = {} # dict of linenum->value
|
|
||||||
self.listData = [] # list of (linenum,value)
|
|
||||||
|
|
||||||
def getSegment(self, startLine, endLine):
|
|
||||||
'''returns a segment of this data (from startLine to endLine, inclusive) as a new Channel instance'''
|
|
||||||
segment = Channel()
|
|
||||||
segment.dictData = {k: v for k, v in self.dictData.items() if k >= startLine and k <= endLine}
|
|
||||||
segment.listData = [(k, v) for k, v in self.listData if k >= startLine and k <= endLine]
|
|
||||||
return segment
|
|
||||||
|
|
||||||
def min(self):
|
|
||||||
return min(self.dictData.values())
|
|
||||||
|
|
||||||
def max(self):
|
|
||||||
return max(self.dictData.values())
|
|
||||||
|
|
||||||
def avg(self):
|
|
||||||
return numpy.mean(self.dictData.values())
|
|
||||||
|
|
||||||
def getNearestValueFwd(self, lineNumber):
|
|
||||||
'''Returns (value,lineNumber)'''
|
|
||||||
index = bisect.bisect_left(self.listData, (lineNumber, -99999))
|
|
||||||
while index < len(self.listData):
|
|
||||||
line = self.listData[index][0]
|
|
||||||
if line >= lineNumber:
|
|
||||||
return (self.listData[index][1], line)
|
|
||||||
index += 1
|
|
||||||
raise ValueError("Error finding nearest value for line %d" % lineNumber)
|
|
||||||
|
|
||||||
def getNearestValueBack(self, lineNumber):
|
|
||||||
'''Returns (value,lineNumber)'''
|
|
||||||
index = bisect.bisect_left(self.listData, (lineNumber, -99999)) - 1
|
|
||||||
while index >= 0:
|
|
||||||
line = self.listData[index][0]
|
|
||||||
if line <= lineNumber:
|
|
||||||
return (self.listData[index][1], line)
|
|
||||||
index -= 1
|
|
||||||
raise ValueError("Error finding nearest value for line %d" % lineNumber)
|
|
||||||
|
|
||||||
def getNearestValue(self, lineNumber, lookForwards=True):
|
|
||||||
"""
|
|
||||||
Find the nearest data value to the given lineNumber, defaults to first looking forwards.
|
|
||||||
Returns (value,lineNumber)
|
|
||||||
"""
|
|
||||||
if lookForwards:
|
|
||||||
try:
|
|
||||||
return self.getNearestValueFwd(lineNumber)
|
|
||||||
except ValueError:
|
|
||||||
return self.getNearestValueBack(lineNumber)
|
|
||||||
else:
|
|
||||||
try:
|
|
||||||
return self.getNearestValueBack(lineNumber)
|
|
||||||
except ValueError:
|
|
||||||
return self.getNearestValueFwd(lineNumber)
|
|
||||||
raise Exception("Error finding nearest value for line %d" % lineNumber)
|
|
||||||
|
|
||||||
def getInterpolatedValue(self, lineNumber):
|
|
||||||
(prevValue, prevValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
|
|
||||||
(nextValue, nextValueLine) = self.getNearestValue(lineNumber, lookForwards=True)
|
|
||||||
if prevValueLine == nextValueLine:
|
|
||||||
return prevValue
|
|
||||||
weight = (lineNumber - prevValueLine) / float(nextValueLine - prevValueLine)
|
|
||||||
return (weight * prevValue) + ((1 - weight) * nextValue)
|
|
||||||
|
|
||||||
def getIndexOf(self, lineNumber):
|
|
||||||
'''returns the index within this channel's listData of the given lineNumber, or raises an Exception if not found'''
|
|
||||||
index = bisect.bisect_left(self.listData, (lineNumber, -99999))
|
|
||||||
if self.listData[index][0] == lineNumber:
|
|
||||||
return index
|
|
||||||
else:
|
|
||||||
raise Exception("Error finding index for line %d" % lineNumber)
|
|
||||||
|
|
||||||
|
|
||||||
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
|
|
||||||
"""
|
|
||||||
|
|
||||||
# TODO: LogIterator currently indexes the next available value rather than the nearest value, we should make it
|
|
||||||
# configurable between next/nearest
|
|
||||||
|
|
||||||
class LogIteratorSubValue:
|
|
||||||
'''syntactic sugar to allow access by LogIterator[lineLabel][dataLabel]'''
|
|
||||||
|
|
||||||
logdata = None
|
|
||||||
iterators = None
|
|
||||||
lineLabel = None
|
|
||||||
|
|
||||||
def __init__(self, logdata, iterators, lineLabel):
|
|
||||||
self.logdata = logdata
|
|
||||||
self.lineLabel = lineLabel
|
|
||||||
self.iterators = iterators
|
|
||||||
|
|
||||||
def __getitem__(self, dataLabel):
|
|
||||||
index = self.iterators[self.lineLabel][0]
|
|
||||||
return self.logdata.channels[self.lineLabel][dataLabel].listData[index][1]
|
|
||||||
|
|
||||||
iterators = {} # lineLabel -> (listIndex,lineNumber)
|
|
||||||
logdata = None
|
|
||||||
currentLine = None
|
|
||||||
|
|
||||||
def __init__(self, logdata, lineNumber=0):
|
|
||||||
self.logdata = logdata
|
|
||||||
self.currentLine = lineNumber
|
|
||||||
for lineLabel in self.logdata.formats:
|
|
||||||
if lineLabel in self.logdata.channels:
|
|
||||||
self.iterators[lineLabel] = ()
|
|
||||||
self.jump(lineNumber)
|
|
||||||
|
|
||||||
def __iter__(self):
|
|
||||||
return self
|
|
||||||
|
|
||||||
def __getitem__(self, lineLabel):
|
|
||||||
return LogIterator.LogIteratorSubValue(self.logdata, self.iterators, lineLabel)
|
|
||||||
|
|
||||||
def next(self):
|
|
||||||
'''increment iterator to next log line'''
|
|
||||||
self.currentLine += 1
|
|
||||||
if self.currentLine > self.logdata.lineCount:
|
|
||||||
return self
|
|
||||||
for lineLabel in self.iterators.keys():
|
|
||||||
# check if the currentLine has gone past our the line we're pointing to for this type of data
|
|
||||||
dataLabel = self.logdata.formats[lineLabel].labels[0]
|
|
||||||
(index, lineNumber) = self.iterators[lineLabel]
|
|
||||||
# if so, and it is not the last entry in the log, increment the indices for dataLabels under that lineLabel
|
|
||||||
if (self.currentLine > lineNumber) and (
|
|
||||||
index < len(self.logdata.channels[lineLabel][dataLabel].listData) - 1
|
|
||||||
):
|
|
||||||
index += 1
|
|
||||||
lineNumber = self.logdata.channels[lineLabel][dataLabel].listData[index][0]
|
|
||||||
self.iterators[lineLabel] = (index, lineNumber)
|
|
||||||
return self
|
|
||||||
|
|
||||||
__next__ = next
|
|
||||||
|
|
||||||
def jump(self, lineNumber):
|
|
||||||
'''jump iterator to specified log line'''
|
|
||||||
self.currentLine = lineNumber
|
|
||||||
for lineLabel in self.iterators.keys():
|
|
||||||
dataLabel = self.logdata.formats[lineLabel].labels[0]
|
|
||||||
(value, lineNumber) = self.logdata.channels[lineLabel][dataLabel].getNearestValue(self.currentLine)
|
|
||||||
self.iterators[lineLabel] = (self.logdata.channels[lineLabel][dataLabel].getIndexOf(lineNumber), lineNumber)
|
|
||||||
|
|
||||||
|
|
||||||
class DataflashLogHelper:
|
|
||||||
'''helper functions for dealing with log data, put here to keep DataflashLog class as a simple parser and data store'''
|
|
||||||
|
|
||||||
@staticmethod
|
|
||||||
def getTimeAtLine(logdata, lineNumber):
|
|
||||||
'''returns the nearest GPS timestamp in milliseconds after the given line number'''
|
|
||||||
if "GPS" not in logdata.channels:
|
|
||||||
raise Exception("no GPS log data found")
|
|
||||||
# older logs use 'TIme', newer logs use 'TimeMS'
|
|
||||||
# even newer logs use TimeUS
|
|
||||||
timeLabel = None
|
|
||||||
for possible in "TimeMS", "Time", "TimeUS":
|
|
||||||
if possible in logdata.channels["GPS"]:
|
|
||||||
timeLabel = possible
|
|
||||||
break
|
|
||||||
if timeLabel is None:
|
|
||||||
raise Exception("Unable to get time label")
|
|
||||||
while lineNumber <= logdata.lineCount:
|
|
||||||
if lineNumber in logdata.channels["GPS"][timeLabel].dictData:
|
|
||||||
return logdata.channels["GPS"][timeLabel].dictData[lineNumber]
|
|
||||||
lineNumber = lineNumber + 1
|
|
||||||
|
|
||||||
sys.stderr.write("didn't find GPS data for " + str(lineNumber) + " - using maxtime\n")
|
|
||||||
return logdata.channels["GPS"][timeLabel].max()
|
|
||||||
|
|
||||||
@staticmethod
|
|
||||||
def findLoiterChunks(logdata, minLengthSeconds=0, noRCInputs=True):
|
|
||||||
"""
|
|
||||||
Returns a list of (to, from) pairs defining sections of the log which are in loiter mode, ordered from longest
|
|
||||||
to shortest in time. If `noRCInputs == True` it only returns chunks with no control inputs
|
|
||||||
"""
|
|
||||||
# TODO: implement noRCInputs handling when identifying stable loiter chunks, for now we're ignoring it
|
|
||||||
|
|
||||||
def chunkSizeCompare(chunk1, chunk2):
|
|
||||||
chunk1Len = chunk1[1] - chunk1[0]
|
|
||||||
chunk2Len = chunk2[1] - chunk2[0]
|
|
||||||
if chunk1Len == chunk2Len:
|
|
||||||
return 0
|
|
||||||
elif chunk1Len > chunk2Len:
|
|
||||||
return -1
|
|
||||||
else:
|
|
||||||
return 1
|
|
||||||
|
|
||||||
changes = [{"line": k, "modeName": v[0], "modeNum": v[1]} for k, v in sorted(logdata.modeChanges.items())]
|
|
||||||
chunks = []
|
|
||||||
for i in range(len(changes)):
|
|
||||||
if changes[i]["modeName"] == "LOITER":
|
|
||||||
startLine = changes[i]["line"]
|
|
||||||
try:
|
|
||||||
endLine = changes[i + 1]["line"]
|
|
||||||
except IndexError:
|
|
||||||
endLine = logdata.lineCount
|
|
||||||
chunkTimeSeconds = (
|
|
||||||
DataflashLogHelper.getTimeAtLine(logdata, endLine)
|
|
||||||
- DataflashLogHelper.getTimeAtLine(logdata, startLine)
|
|
||||||
+ 1
|
|
||||||
) / 1000.0
|
|
||||||
if chunkTimeSeconds > minLengthSeconds:
|
|
||||||
chunks.append((startLine, endLine))
|
|
||||||
chunks.sort(key=lambda chunk: chunk[1] - chunk[0])
|
|
||||||
return chunks
|
|
||||||
|
|
||||||
@staticmethod
|
|
||||||
def isLogEmpty(logdata):
|
|
||||||
'''returns an human readable error string if the log is essentially empty, otherwise returns None'''
|
|
||||||
# naive check for now, see if the throttle output was ever above 20%
|
|
||||||
throttleThreshold = 20
|
|
||||||
if logdata.vehicleType == VehicleType.Copter:
|
|
||||||
throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
|
|
||||||
if "CTUN" in logdata.channels:
|
|
||||||
try:
|
|
||||||
maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
|
|
||||||
except KeyError:
|
|
||||||
# ThrOut was shorted to ThO at some stage...
|
|
||||||
maxThrottle = logdata.channels["CTUN"]["ThO"].max()
|
|
||||||
# at roughly the same time ThO became a range from 0 to 1
|
|
||||||
throttleThreshold = 0.2
|
|
||||||
if maxThrottle < throttleThreshold:
|
|
||||||
return "Throttle never above 20%"
|
|
||||||
return None
|
|
||||||
|
|
||||||
|
|
||||||
class DataflashLog(object):
|
|
||||||
"""
|
|
||||||
ArduPilot Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions
|
|
||||||
to DataflashLogHelper class
|
|
||||||
"""
|
|
||||||
|
|
||||||
knownHardwareTypes = ["APM", "PX4", "MPNG"]
|
|
||||||
|
|
||||||
def __init__(self, logfile=None, format="auto", ignoreBadlines=False):
|
|
||||||
self.filename = None
|
|
||||||
|
|
||||||
self.vehicleType = None # from VehicleType enumeration; value derived from header
|
|
||||||
self.vehicleTypeString = None # set at same time has the enum value
|
|
||||||
self.firmwareVersion = ""
|
|
||||||
self.firmwareHash = ""
|
|
||||||
self.freeRAM = 0
|
|
||||||
self.hardwareType = "" # APM 1, APM 2, PX4, MPNG, etc What is VRBrain? BeagleBone, etc? Needs more testing
|
|
||||||
|
|
||||||
self.formats = {} # name -> Format
|
|
||||||
self.parameters = {} # token -> value
|
|
||||||
self.messages = {} # lineNum -> message
|
|
||||||
self.modeChanges = {} # lineNum -> (mode,value)
|
|
||||||
self.channels = {} # lineLabel -> {dataLabel:Channel}
|
|
||||||
|
|
||||||
self.filesizeKB = 0
|
|
||||||
self.durationSecs = 0
|
|
||||||
self.lineCount = 0
|
|
||||||
self.skippedLines = 0
|
|
||||||
self.backpatch_these_modechanges = []
|
|
||||||
self.frame = None
|
|
||||||
|
|
||||||
if logfile:
|
|
||||||
self.read(logfile, format, ignoreBadlines)
|
|
||||||
|
|
||||||
def getCopterType(self):
|
|
||||||
'''returns quad/hex/octo/tradheli if this is a copter log'''
|
|
||||||
if self.vehicleType != VehicleType.Copter:
|
|
||||||
return None
|
|
||||||
motLabels = []
|
|
||||||
if "MOT" in self.formats: # not listed in PX4 log header for some reason?
|
|
||||||
motLabels = self.formats["MOT"].labels
|
|
||||||
if "GGain" in motLabels:
|
|
||||||
return "tradheli"
|
|
||||||
elif len(motLabels) == 4:
|
|
||||||
return "quad"
|
|
||||||
elif len(motLabels) == 6:
|
|
||||||
return "hex"
|
|
||||||
elif len(motLabels) == 8:
|
|
||||||
return "octo"
|
|
||||||
else:
|
|
||||||
return ""
|
|
||||||
|
|
||||||
def num_motor_channels(self):
|
|
||||||
motor_channels_for_frame = {
|
|
||||||
"QUAD": 4,
|
|
||||||
"HEXA": 6,
|
|
||||||
"Y6": 6,
|
|
||||||
"OCTA": 8,
|
|
||||||
"OCTA_QUAD": 8,
|
|
||||||
"DECA": 10,
|
|
||||||
# "HELI": 1,
|
|
||||||
# "HELI_DUAL": 2,
|
|
||||||
"TRI": 3,
|
|
||||||
"SINGLE": 1,
|
|
||||||
"COAX": 2,
|
|
||||||
"TAILSITTER": 1,
|
|
||||||
"DODECA_HEXA": 12,
|
|
||||||
}
|
|
||||||
return motor_channels_for_frame[self.frame]
|
|
||||||
|
|
||||||
def read(self, logfile, format="auto", ignoreBadlines=False):
|
|
||||||
'''returns on successful log read (including bad lines if ignoreBadlines==True), will throw an Exception otherwise'''
|
|
||||||
# TODO: dataflash log parsing code is pretty hacky, should re-write more methodically
|
|
||||||
df_header = bytearray([0xA3, 0x95, 0x80, 0x80])
|
|
||||||
self.filename = logfile
|
|
||||||
if self.filename == '<stdin>':
|
|
||||||
f = sys.stdin
|
|
||||||
else:
|
|
||||||
f = open(self.filename, 'rb')
|
|
||||||
|
|
||||||
if format.lower() == 'bin':
|
|
||||||
head = df_header
|
|
||||||
elif format == 'log':
|
|
||||||
head = ""
|
|
||||||
elif format == 'auto':
|
|
||||||
if self.filename == '<stdin>':
|
|
||||||
# assuming TXT format
|
|
||||||
head = ""
|
|
||||||
else:
|
|
||||||
head = f.read(4)
|
|
||||||
f.seek(0)
|
|
||||||
else:
|
|
||||||
raise ValueError("Unknown log format for {}: {}".format(self.filename, format))
|
|
||||||
|
|
||||||
if head == df_header:
|
|
||||||
numBytes, lineNumber = self.read_binary(f, ignoreBadlines)
|
|
||||||
pass
|
|
||||||
else:
|
|
||||||
numBytes, lineNumber = self.read_text(f, ignoreBadlines)
|
|
||||||
|
|
||||||
# gather some general stats about the log
|
|
||||||
self.lineCount = lineNumber
|
|
||||||
self.filesizeKB = numBytes / 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 = None
|
|
||||||
for i in 'TimeMS', 'TimeUS', 'Time':
|
|
||||||
if i in self.channels["GPS"]:
|
|
||||||
timeLabel = i
|
|
||||||
break
|
|
||||||
firstTimeGPS = int(self.channels["GPS"][timeLabel].listData[0][1])
|
|
||||||
lastTimeGPS = int(self.channels["GPS"][timeLabel].listData[-1][1])
|
|
||||||
if timeLabel == 'TimeUS':
|
|
||||||
firstTimeGPS /= 1000
|
|
||||||
lastTimeGPS /= 1000
|
|
||||||
self.durationSecs = (lastTimeGPS - firstTimeGPS) / 1000
|
|
||||||
|
|
||||||
# TODO: calculate logging rate based on timestamps
|
|
||||||
# ...
|
|
||||||
|
|
||||||
msg_vehicle_to_vehicle_map = {
|
|
||||||
"ArduCopter": VehicleType.Copter,
|
|
||||||
"APM:Copter": VehicleType.Copter,
|
|
||||||
"ArduPlane": VehicleType.Plane,
|
|
||||||
"ArduRover": VehicleType.Rover,
|
|
||||||
}
|
|
||||||
|
|
||||||
# takes the vehicle type supplied via "MSG" and sets vehicleType from
|
|
||||||
# the VehicleType enumeration
|
|
||||||
def set_vehicleType_from_MSG_vehicle(self, MSG_vehicle):
|
|
||||||
ret = self.msg_vehicle_to_vehicle_map.get(MSG_vehicle, None)
|
|
||||||
if ret is None:
|
|
||||||
raise ValueError("Unknown vehicle type (%s)" % (MSG_vehicle))
|
|
||||||
self.vehicleType = ret
|
|
||||||
self.vehicleTypeString = VehicleTypeString[ret]
|
|
||||||
|
|
||||||
def handleModeChange(self, lineNumber, e):
|
|
||||||
if self.vehicleType == VehicleType.Copter:
|
|
||||||
modes = {
|
|
||||||
0: 'STABILIZE',
|
|
||||||
1: 'ACRO',
|
|
||||||
2: 'ALT_HOLD',
|
|
||||||
3: 'AUTO',
|
|
||||||
4: 'GUIDED',
|
|
||||||
5: 'LOITER',
|
|
||||||
6: 'RTL',
|
|
||||||
7: 'CIRCLE',
|
|
||||||
9: 'LAND',
|
|
||||||
10: 'OF_LOITER',
|
|
||||||
11: 'DRIFT',
|
|
||||||
13: 'SPORT',
|
|
||||||
14: 'FLIP',
|
|
||||||
15: 'AUTOTUNE',
|
|
||||||
16: 'POSHOLD',
|
|
||||||
17: 'BRAKE',
|
|
||||||
18: 'THROW',
|
|
||||||
19: 'AVOID_ADSB',
|
|
||||||
20: 'GUIDED_NOGPS',
|
|
||||||
21: 'SMART_RTL',
|
|
||||||
}
|
|
||||||
try:
|
|
||||||
if hasattr(e, 'ThrCrs'):
|
|
||||||
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ThrCrs)
|
|
||||||
else:
|
|
||||||
# assume it has ModeNum:
|
|
||||||
self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
|
|
||||||
except ValueError:
|
|
||||||
if hasattr(e, 'ThrCrs'):
|
|
||||||
self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
|
|
||||||
else:
|
|
||||||
# some .log files have the name spelt out by name
|
|
||||||
# rather than number, contrary to the format
|
|
||||||
# string. Attempt to map that back to a number:
|
|
||||||
uppername = str(e.Mode).upper()
|
|
||||||
for num in modes:
|
|
||||||
if modes[num].upper() == uppername:
|
|
||||||
self.modeChanges[lineNumber] = (uppername, num)
|
|
||||||
return
|
|
||||||
# assume it has ModeNum:
|
|
||||||
print("Unknown mode=%u" % e.ModeNum)
|
|
||||||
self.modeChanges[lineNumber] = (e.Mode, "mode=%u" % e.ModeNum)
|
|
||||||
elif self.vehicleType in [VehicleType.Plane, VehicleType.Copter, VehicleType.Rover]:
|
|
||||||
self.modeChanges[lineNumber] = (e.Mode, e.ModeNum)
|
|
||||||
else:
|
|
||||||
# if you've gotten to here the chances are we don't
|
|
||||||
# know what vehicle you're flying...
|
|
||||||
raise Exception(
|
|
||||||
"Unknown log type for MODE line vehicletype=({}) line=({})".format(self.vehicleTypeString, repr(e))
|
|
||||||
)
|
|
||||||
|
|
||||||
def backPatchModeChanges(self):
|
|
||||||
for (lineNumber, e) in self.backpatch_these_modechanges:
|
|
||||||
self.handleModeChange(lineNumber, e)
|
|
||||||
|
|
||||||
def set_frame(self, frame):
|
|
||||||
self.frame = frame
|
|
||||||
|
|
||||||
def process(self, lineNumber, e):
|
|
||||||
if e.NAME == 'FMT':
|
|
||||||
cls = e.to_class()
|
|
||||||
if cls is not None: # FMT messages can be broken ...
|
|
||||||
if hasattr(e, 'type') and e.type not in self._formats: # binary log specific
|
|
||||||
self._formats[e.type] = cls
|
|
||||||
if cls.NAME not in self.formats:
|
|
||||||
self.formats[cls.NAME] = cls
|
|
||||||
elif e.NAME == "PARM":
|
|
||||||
self.parameters[e.Name] = e.Value
|
|
||||||
elif e.NAME == "MSG":
|
|
||||||
tokens = e.Message.split(' ')
|
|
||||||
if not self.frame:
|
|
||||||
if "Frame" in tokens[0]:
|
|
||||||
self.set_frame(tokens[1])
|
|
||||||
if not self.vehicleType:
|
|
||||||
try:
|
|
||||||
self.set_vehicleType_from_MSG_vehicle(tokens[0])
|
|
||||||
except ValueError:
|
|
||||||
return
|
|
||||||
self.backPatchModeChanges()
|
|
||||||
self.firmwareVersion = tokens[1]
|
|
||||||
if len(tokens) == 3:
|
|
||||||
self.firmwareHash = tokens[2][1:-1]
|
|
||||||
else:
|
|
||||||
self.messages[lineNumber] = e.Message
|
|
||||||
elif e.NAME == "MODE":
|
|
||||||
if self.vehicleType is None:
|
|
||||||
self.backpatch_these_modechanges.append((lineNumber, e))
|
|
||||||
else:
|
|
||||||
self.handleModeChange(lineNumber, e)
|
|
||||||
# anything else must be the log data
|
|
||||||
else:
|
|
||||||
groupName = e.NAME
|
|
||||||
|
|
||||||
# first time seeing this type of log line, create the channel storage
|
|
||||||
if groupName not in self.channels:
|
|
||||||
self.channels[groupName] = {}
|
|
||||||
for label in e.labels:
|
|
||||||
self.channels[groupName][label] = Channel()
|
|
||||||
|
|
||||||
# store each token in its relevant channel
|
|
||||||
for label in e.labels:
|
|
||||||
value = getattr(e, label)
|
|
||||||
channel = self.channels[groupName][label]
|
|
||||||
channel.dictData[lineNumber] = value
|
|
||||||
channel.listData.append((lineNumber, value))
|
|
||||||
|
|
||||||
def read_text(self, f, ignoreBadlines):
|
|
||||||
self.formats = {'FMT': Format}
|
|
||||||
lineNumber = 0
|
|
||||||
numBytes = 0
|
|
||||||
knownHardwareTypes = ["APM", "PX4", "MPNG"]
|
|
||||||
for line in f:
|
|
||||||
lineNumber = lineNumber + 1
|
|
||||||
numBytes += len(line) + 1
|
|
||||||
line = line.decode(encoding="utf-8")
|
|
||||||
try:
|
|
||||||
line = line.strip('\n\r')
|
|
||||||
tokens = line.split(', ')
|
|
||||||
# first handle the log header lines
|
|
||||||
if line == " Ready to drive." or line == " Ready to FLY.":
|
|
||||||
continue
|
|
||||||
if line == "----------------------------------------": # present in pre-3.0 logs
|
|
||||||
raise Exception(
|
|
||||||
"Log file seems to be in the older format (prior to self-describing logs), which isn't supported"
|
|
||||||
)
|
|
||||||
if len(tokens) == 1:
|
|
||||||
tokens2 = line.split(' ')
|
|
||||||
if line == "":
|
|
||||||
pass
|
|
||||||
elif len(tokens2) == 1 and tokens2[0].isdigit(): # log index
|
|
||||||
pass
|
|
||||||
elif len(tokens2) == 3 and tokens2[0] == "Free" and tokens2[1] == "RAM:":
|
|
||||||
self.freeRAM = int(tokens2[2])
|
|
||||||
elif tokens2[0] in knownHardwareTypes:
|
|
||||||
# not sure if we can parse this more usefully, for now only need to report it back verbatim
|
|
||||||
self.hardwareType = line
|
|
||||||
elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][
|
|
||||||
0
|
|
||||||
].lower() == "v": # e.g. ArduCopter V3.1 (5c6503e2)
|
|
||||||
try:
|
|
||||||
self.set_vehicleType_from_MSG_vehicle(tokens2[0])
|
|
||||||
except ValueError:
|
|
||||||
pass
|
|
||||||
self.firmwareVersion = tokens2[1]
|
|
||||||
if len(tokens2) == 3:
|
|
||||||
self.firmwareHash = tokens2[2][1:-1]
|
|
||||||
else:
|
|
||||||
errorMsg = "Error parsing line %d of log file: %s" % (lineNumber, self.filename)
|
|
||||||
if ignoreBadlines:
|
|
||||||
print(errorMsg + " (skipping line)", file=sys.stderr)
|
|
||||||
self.skippedLines += 1
|
|
||||||
else:
|
|
||||||
raise Exception("")
|
|
||||||
else:
|
|
||||||
if tokens[0] not in self.formats:
|
|
||||||
raise ValueError("Unknown Format {}".format(tokens[0]))
|
|
||||||
e = self.formats[tokens[0]](*tokens[1:])
|
|
||||||
self.process(lineNumber, e)
|
|
||||||
except Exception as e:
|
|
||||||
print("BAD LINE: " + str(line), file=sys.stderr)
|
|
||||||
if not ignoreBadlines:
|
|
||||||
raise Exception(
|
|
||||||
"Error parsing line %d of log file %s - %s" % (lineNumber, self.filename, e.args[0])
|
|
||||||
)
|
|
||||||
return (numBytes, lineNumber)
|
|
||||||
|
|
||||||
def read_binary(self, f, ignoreBadlines):
|
|
||||||
lineNumber = 0
|
|
||||||
numBytes = 0
|
|
||||||
for e in self._read_binary(f, ignoreBadlines):
|
|
||||||
lineNumber += 1
|
|
||||||
if e is None:
|
|
||||||
continue
|
|
||||||
numBytes += e.SIZE
|
|
||||||
# print(e)
|
|
||||||
self.process(lineNumber, e)
|
|
||||||
return (numBytes, lineNumber)
|
|
||||||
|
|
||||||
def _read_binary(self, f, ignoreBadlines):
|
|
||||||
self._formats = {128: BinaryFormat}
|
|
||||||
data = bytearray(f.read())
|
|
||||||
offset = 0
|
|
||||||
while len(data) > offset + ctypes.sizeof(logheader):
|
|
||||||
h = logheader.from_buffer(data, offset)
|
|
||||||
if not (h.head1 == 0xA3 and h.head2 == 0x95):
|
|
||||||
if ignoreBadlines is False:
|
|
||||||
raise ValueError(h)
|
|
||||||
else:
|
|
||||||
if h.head1 == 0xFF and h.head2 == 0xFF and h.msgid == 0xFF:
|
|
||||||
print(
|
|
||||||
"Assuming EOF due to dataflash block tail filled with \\xff... (offset={off})".format(
|
|
||||||
off=offset
|
|
||||||
),
|
|
||||||
file=sys.stderr,
|
|
||||||
)
|
|
||||||
break
|
|
||||||
offset += 1
|
|
||||||
continue
|
|
||||||
|
|
||||||
if h.msgid in self._formats:
|
|
||||||
typ = self._formats[h.msgid]
|
|
||||||
if len(data) <= offset + typ.SIZE:
|
|
||||||
break
|
|
||||||
try:
|
|
||||||
e = typ.from_buffer(data, offset)
|
|
||||||
except ValueError:
|
|
||||||
print(
|
|
||||||
"data:{} offset:{} size:{} sizeof:{} sum:{}".format(
|
|
||||||
len(data), offset, typ.SIZE, ctypes.sizeof(typ), offset + typ.SIZE
|
|
||||||
)
|
|
||||||
)
|
|
||||||
raise
|
|
||||||
offset += typ.SIZE
|
|
||||||
else:
|
|
||||||
raise ValueError(str(h) + "unknown type")
|
|
||||||
yield e
|
|
||||||
|
|
@ -1,313 +0,0 @@
|
||||||
#!/usr/bin/env python
|
|
||||||
#
|
|
||||||
# A module to analyze and identify any common problems which can be determined from log files
|
|
||||||
#
|
|
||||||
# Initial code by Andrew Chapman (amchapman@gmail.com), 16th Jan 2014
|
|
||||||
#
|
|
||||||
|
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
# some logging oddities noticed while doing this, to be followed up on:
|
|
||||||
# - tradheli MOT labels Mot1,Mot2,Mot3,Mot4,GGain
|
|
||||||
# - Pixhawk doesn't output one of the FMT labels... forget which one
|
|
||||||
# - MAG offsets seem to be constant (only seen data on Pixhawk)
|
|
||||||
# - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84)
|
|
||||||
# - copter+plane use 'V' in their vehicle type/version/build line, rover uses lower case 'v'.
|
|
||||||
# Copter+Rover give a build number, plane does not
|
|
||||||
# - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
|
|
||||||
|
|
||||||
# TODO: add test for noisy baro values
|
|
||||||
# TODO: support loading binary log files (use Tridge's mavlogdump?)
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import argparse
|
|
||||||
import datetime
|
|
||||||
import glob
|
|
||||||
import os
|
|
||||||
import sys
|
|
||||||
import time
|
|
||||||
from xml.sax.saxutils import escape
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestResult(object):
|
|
||||||
'''all tests return a standardized result type'''
|
|
||||||
|
|
||||||
class StatusType:
|
|
||||||
# NA means not applicable for this log (e.g. copter tests against a plane log)
|
|
||||||
# UNKNOWN means it is missing data required for the test
|
|
||||||
GOOD, FAIL, WARN, UNKNOWN, NA = range(5)
|
|
||||||
|
|
||||||
status = None
|
|
||||||
statusMessage = "" # can be multi-line
|
|
||||||
|
|
||||||
|
|
||||||
class Test(object):
|
|
||||||
"""
|
|
||||||
Base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with
|
|
||||||
clear results
|
|
||||||
"""
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
self.name = ""
|
|
||||||
self.result = None # will be an instance of TestResult after being run
|
|
||||||
self.execTime = None
|
|
||||||
self.enable = True
|
|
||||||
|
|
||||||
def run(self, logdata, verbose=False):
|
|
||||||
pass
|
|
||||||
|
|
||||||
|
|
||||||
class TestSuite(object):
|
|
||||||
'''registers test classes, loading using a basic plugin architecture, and can run them all in one run() operation'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
self.tests = []
|
|
||||||
self.logfile = None
|
|
||||||
self.logdata = None
|
|
||||||
# dynamically load in Test subclasses from the 'tests' folder
|
|
||||||
# to prevent one being loaded, move it out of that folder, or set that test's .enable attribute to False
|
|
||||||
dirName = os.path.dirname(os.path.abspath(__file__))
|
|
||||||
testScripts = glob.glob(dirName + '/tests/*.py')
|
|
||||||
|
|
||||||
def getTests(module_path):
|
|
||||||
import inspect
|
|
||||||
|
|
||||||
tests = []
|
|
||||||
module_name = os.path.basename(module_path)[:-3]
|
|
||||||
if sys.version_info >= (3, 5):
|
|
||||||
from importlib.util import spec_from_file_location, module_from_spec
|
|
||||||
|
|
||||||
spec = spec_from_file_location(module_name, module_path)
|
|
||||||
m = module_from_spec(spec)
|
|
||||||
spec.loader.exec_module(m)
|
|
||||||
else:
|
|
||||||
from imp import load_source
|
|
||||||
|
|
||||||
m = load_source(module_name, module_path)
|
|
||||||
for _, _class in inspect.getmembers(m, inspect.isclass):
|
|
||||||
if _class.__module__ == m.__name__:
|
|
||||||
tests.append(_class())
|
|
||||||
return tests
|
|
||||||
|
|
||||||
for script in testScripts:
|
|
||||||
self.tests.extend(getTests(script))
|
|
||||||
|
|
||||||
# and here's an example of explicitly loading a Test class if you wanted to do that
|
|
||||||
# spec = importlib.util.spec_from_file_location("m", dirName + "/tests/TestBadParams.py")
|
|
||||||
# m = importlib.util.module_from_spec(spec)
|
|
||||||
# spec.loader.exec_module(m)
|
|
||||||
# self.tests.append(m.TestBadParams())
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
'''run all registered tests in a single call, gathering execution timing info'''
|
|
||||||
self.logdata = logdata
|
|
||||||
if 'GPS' not in self.logdata.channels and 'GPS2' in self.logdata.channels:
|
|
||||||
# *cough*
|
|
||||||
self.logdata.channels['GPS'] = self.logdata.channels['GPS2']
|
|
||||||
|
|
||||||
self.logfile = logdata.filename
|
|
||||||
for test in self.tests:
|
|
||||||
# run each test in turn, gathering timing info
|
|
||||||
if test.enable:
|
|
||||||
startTime = time.time()
|
|
||||||
test.run(self.logdata, verbose) # RUN THE TEST
|
|
||||||
endTime = time.time()
|
|
||||||
test.execTime = 1000 * (endTime - startTime)
|
|
||||||
|
|
||||||
def outputPlainText(self, outputStats):
|
|
||||||
'''output test results in plain text'''
|
|
||||||
print('Dataflash log analysis report for file: ' + self.logfile)
|
|
||||||
print('Log size: %.2fmb (%d lines)' % (self.logdata.filesizeKB / 1024.0, self.logdata.lineCount))
|
|
||||||
print('Log duration: %s' % str(datetime.timedelta(seconds=self.logdata.durationSecs)) + '\n')
|
|
||||||
|
|
||||||
if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
|
|
||||||
print('Vehicle Type: %s (%s)' % (self.logdata.vehicleTypeString, self.logdata.getCopterType()))
|
|
||||||
else:
|
|
||||||
print('Vehicle Type: %s' % self.logdata.vehicleTypeString)
|
|
||||||
print('Firmware Version: %s (%s)' % (self.logdata.firmwareVersion, self.logdata.firmwareHash))
|
|
||||||
print('Hardware: %s' % self.logdata.hardwareType)
|
|
||||||
print('Free RAM: %s' % self.logdata.freeRAM)
|
|
||||||
if self.logdata.skippedLines:
|
|
||||||
print("\nWARNING: %d malformed log lines skipped during read" % self.logdata.skippedLines)
|
|
||||||
print('\n')
|
|
||||||
|
|
||||||
print("Test Results:")
|
|
||||||
for test in self.tests:
|
|
||||||
if not test.enable:
|
|
||||||
continue
|
|
||||||
statusMessageFirstLine = test.result.statusMessage.strip('\n\r').split('\n')[0]
|
|
||||||
statusMessageExtra = test.result.statusMessage.strip('\n\r').split('\n')[1:]
|
|
||||||
execTime = ""
|
|
||||||
if outputStats:
|
|
||||||
execTime = " (%6.2fms)" % (test.execTime)
|
|
||||||
if test.result.status == TestResult.StatusType.GOOD:
|
|
||||||
print(" %20s: GOOD %-55s%s" % (test.name, statusMessageFirstLine, execTime))
|
|
||||||
elif test.result.status == TestResult.StatusType.FAIL:
|
|
||||||
print(" %20s: FAIL %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime))
|
|
||||||
elif test.result.status == TestResult.StatusType.WARN:
|
|
||||||
print(" %20s: WARN %-55s%s [GRAPH]" % (test.name, statusMessageFirstLine, execTime))
|
|
||||||
elif test.result.status == TestResult.StatusType.NA:
|
|
||||||
# skip any that aren't relevant for this vehicle/hardware/etc
|
|
||||||
continue
|
|
||||||
else:
|
|
||||||
print(" %20s: UNKNOWN %-55s%s" % (test.name, statusMessageFirstLine, execTime))
|
|
||||||
# if statusMessageExtra:
|
|
||||||
for line in statusMessageExtra:
|
|
||||||
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)"
|
|
||||||
)
|
|
||||||
print('\n')
|
|
||||||
|
|
||||||
def outputXML(self, xmlFile):
|
|
||||||
'''output test results to an XML file'''
|
|
||||||
|
|
||||||
# open the file for writing
|
|
||||||
xml = None
|
|
||||||
try:
|
|
||||||
if xmlFile == '-':
|
|
||||||
xml = sys.stdout
|
|
||||||
else:
|
|
||||||
xml = open(xmlFile, 'w')
|
|
||||||
except IOError:
|
|
||||||
sys.stderr.write("Error opening output xml file: %s" % xmlFile)
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
# output header info
|
|
||||||
xml.write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n")
|
|
||||||
xml.write("<loganalysis>\n")
|
|
||||||
xml.write("<header>\n")
|
|
||||||
xml.write(" <logfile>" + escape(self.logfile) + "</logfile>\n")
|
|
||||||
xml.write(" <sizekb>" + escape(repr(self.logdata.filesizeKB)) + "</sizekb>\n")
|
|
||||||
xml.write(" <sizelines>" + escape(repr(self.logdata.lineCount)) + "</sizelines>\n")
|
|
||||||
xml.write(" <duration>" + escape(str(datetime.timedelta(seconds=self.logdata.durationSecs))) + "</duration>\n")
|
|
||||||
xml.write(" <vehicletype>" + escape(self.logdata.vehicleTypeString) + "</vehicletype>\n")
|
|
||||||
if self.logdata.vehicleType == VehicleType.Copter and self.logdata.getCopterType():
|
|
||||||
xml.write(" <coptertype>" + escape(self.logdata.getCopterType()) + "</coptertype>\n")
|
|
||||||
xml.write(" <firmwareversion>" + escape(self.logdata.firmwareVersion) + "</firmwareversion>\n")
|
|
||||||
xml.write(" <firmwarehash>" + escape(self.logdata.firmwareHash) + "</firmwarehash>\n")
|
|
||||||
xml.write(" <hardwaretype>" + escape(self.logdata.hardwareType) + "</hardwaretype>\n")
|
|
||||||
xml.write(" <freemem>" + escape(repr(self.logdata.freeRAM)) + "</freemem>\n")
|
|
||||||
xml.write(" <skippedlines>" + escape(repr(self.logdata.skippedLines)) + "</skippedlines>\n")
|
|
||||||
xml.write("</header>\n")
|
|
||||||
|
|
||||||
# output parameters
|
|
||||||
xml.write("<params>\n")
|
|
||||||
for param, value in self.logdata.parameters.items():
|
|
||||||
xml.write(" <param name=\"%s\" value=\"%s\" />\n" % (param, escape(repr(value))))
|
|
||||||
xml.write("</params>\n")
|
|
||||||
|
|
||||||
# output test results
|
|
||||||
xml.write("<results>\n")
|
|
||||||
for test in self.tests:
|
|
||||||
if not test.enable:
|
|
||||||
continue
|
|
||||||
xml.write(" <result>\n")
|
|
||||||
if test.result.status == TestResult.StatusType.GOOD:
|
|
||||||
xml.write(" <name>" + escape(test.name) + "</name>\n")
|
|
||||||
xml.write(" <status>GOOD</status>\n")
|
|
||||||
xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
|
|
||||||
elif test.result.status == TestResult.StatusType.FAIL:
|
|
||||||
xml.write(" <name>" + escape(test.name) + "</name>\n")
|
|
||||||
xml.write(" <status>FAIL</status>\n")
|
|
||||||
xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
|
|
||||||
xml.write(" <data>(test data will be embedded here at some point)</data>\n")
|
|
||||||
elif test.result.status == TestResult.StatusType.WARN:
|
|
||||||
xml.write(" <name>" + escape(test.name) + "</name>\n")
|
|
||||||
xml.write(" <status>WARN</status>\n")
|
|
||||||
xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
|
|
||||||
xml.write(" <data>(test data will be embedded here at some point)</data>\n")
|
|
||||||
elif test.result.status == TestResult.StatusType.NA:
|
|
||||||
xml.write(" <name>" + escape(test.name) + "</name>\n")
|
|
||||||
xml.write(" <status>NA</status>\n")
|
|
||||||
else:
|
|
||||||
xml.write(" <name>" + escape(test.name) + "</name>\n")
|
|
||||||
xml.write(" <status>UNKNOWN</status>\n")
|
|
||||||
xml.write(" <message>" + escape(test.result.statusMessage) + "</message>\n")
|
|
||||||
xml.write(" </result>\n")
|
|
||||||
xml.write("</results>\n")
|
|
||||||
|
|
||||||
xml.write("</loganalysis>\n")
|
|
||||||
|
|
||||||
xml.close()
|
|
||||||
|
|
||||||
|
|
||||||
def main():
|
|
||||||
# deal with command line arguments
|
|
||||||
parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues')
|
|
||||||
parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file (or - for stdin)')
|
|
||||||
parser.add_argument(
|
|
||||||
'-f',
|
|
||||||
'--format',
|
|
||||||
metavar='',
|
|
||||||
type=str,
|
|
||||||
action='store',
|
|
||||||
choices=['bin', 'log', 'auto'],
|
|
||||||
default='auto',
|
|
||||||
help='log file format: \'bin\',\'log\' or \'auto\'',
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
'-q', '--quiet', metavar='', action='store_const', const=True, help='quiet mode, do not print results'
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
'-p', '--profile', metavar='', action='store_const', const=True, help='output performance profiling data'
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
'-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines'
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
'-e', '--empty', metavar='', action='store_const', const=True, help='run an initial check for an empty log'
|
|
||||||
)
|
|
||||||
parser.add_argument(
|
|
||||||
'-x',
|
|
||||||
'--xml',
|
|
||||||
type=str,
|
|
||||||
metavar='XML file',
|
|
||||||
nargs='?',
|
|
||||||
const='',
|
|
||||||
default='',
|
|
||||||
help='write output to specified XML file (or - for stdout)',
|
|
||||||
)
|
|
||||||
parser.add_argument('-v', '--verbose', metavar='', action='store_const', const=True, help='verbose output')
|
|
||||||
args = parser.parse_args()
|
|
||||||
|
|
||||||
# load the log
|
|
||||||
startTime = time.time()
|
|
||||||
logdata = DataflashLog.DataflashLog(args.logfile.name, format=args.format, ignoreBadlines=args.skip_bad) # read log
|
|
||||||
endTime = time.time()
|
|
||||||
if args.profile:
|
|
||||||
print("Log file read time: %.2f seconds" % (endTime - startTime))
|
|
||||||
|
|
||||||
# check for empty log if requested
|
|
||||||
if args.empty:
|
|
||||||
emptyErr = DataflashLog.DataflashLogHelper.isLogEmpty(logdata)
|
|
||||||
if emptyErr:
|
|
||||||
sys.stderr.write("Empty log file: %s, %s" % (logdata.filename, emptyErr))
|
|
||||||
sys.exit(1)
|
|
||||||
|
|
||||||
# run the tests, and gather timings
|
|
||||||
testSuite = TestSuite()
|
|
||||||
startTime = time.time()
|
|
||||||
testSuite.run(logdata, args.verbose) # run tests
|
|
||||||
endTime = time.time()
|
|
||||||
if args.profile:
|
|
||||||
print("Test suite run time: %.2f seconds" % (endTime - startTime))
|
|
||||||
|
|
||||||
# deal with output
|
|
||||||
if not args.quiet:
|
|
||||||
testSuite.outputPlainText(args.profile)
|
|
||||||
if args.xml:
|
|
||||||
testSuite.outputXML(args.xml)
|
|
||||||
if not args.quiet:
|
|
||||||
print("XML output written to file: %s\n" % args.xml)
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == "__main__":
|
|
||||||
main()
|
|
||||||
|
|
@ -1,404 +0,0 @@
|
||||||
#!/usr/bin/env python
|
|
||||||
#
|
|
||||||
#
|
|
||||||
# Unit and regression tests for the LogAnalyzer code
|
|
||||||
#
|
|
||||||
#
|
|
||||||
|
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
# TODO: implement more unit+regression tests
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import traceback
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
try:
|
|
||||||
|
|
||||||
# test DataflashLog reading 1
|
|
||||||
logdata = DataflashLog.DataflashLog()
|
|
||||||
logdata.read("examples/robert_lefebvre_octo_PM.log", ignoreBadlines=False)
|
|
||||||
assert logdata.filename == "examples/robert_lefebvre_octo_PM.log"
|
|
||||||
assert logdata.vehicleType == VehicleType.Copter
|
|
||||||
assert logdata.vehicleTypeString == "ArduCopter"
|
|
||||||
assert logdata.firmwareVersion == "V3.0.1"
|
|
||||||
assert logdata.firmwareHash == "5c6503e2"
|
|
||||||
assert logdata.freeRAM == 1331
|
|
||||||
assert logdata.hardwareType == "APM 2"
|
|
||||||
assert len(logdata.formats) == 27
|
|
||||||
assert logdata.formats['GPS'].labels == [
|
|
||||||
'Status',
|
|
||||||
'Time',
|
|
||||||
'NSats',
|
|
||||||
'HDop',
|
|
||||||
'Lat',
|
|
||||||
'Lng',
|
|
||||||
'RelAlt',
|
|
||||||
'Alt',
|
|
||||||
'Spd',
|
|
||||||
'GCrs',
|
|
||||||
]
|
|
||||||
assert logdata.formats['ATT'].labels == ['RollIn', 'Roll', 'PitchIn', 'Pitch', 'YawIn', 'Yaw', 'NavYaw']
|
|
||||||
assert logdata.parameters == {
|
|
||||||
'RC7_REV': 1.0,
|
|
||||||
'MNT_MODE': 3.0,
|
|
||||||
'LOITER_LON_P': 1.0,
|
|
||||||
'FLTMODE1': 1.0,
|
|
||||||
'FLTMODE3': 0.0,
|
|
||||||
'FLTMODE2': 6.0,
|
|
||||||
'TUNE_HIGH': 10000.0,
|
|
||||||
'FLTMODE4': 5.0,
|
|
||||||
'FLTMODE6': 2.0,
|
|
||||||
'SYSID_SW_TYPE': 10.0,
|
|
||||||
'LOITER_LON_D': 0.0,
|
|
||||||
'RC5_REV': 1.0,
|
|
||||||
'THR_RATE_IMAX': 300.0,
|
|
||||||
'MNT_RC_IN_PAN': 0.0,
|
|
||||||
'RC2_MIN': 1110.0,
|
|
||||||
'LOITER_LON_I': 0.5,
|
|
||||||
'HLD_LON_P': 1.0,
|
|
||||||
'STB_RLL_I': 0.0,
|
|
||||||
'LOW_VOLT': 10.5,
|
|
||||||
'MNT_CONTROL_Y': 0.0,
|
|
||||||
'MNT_CONTROL_X': 0.0,
|
|
||||||
'FRAME': 1.0,
|
|
||||||
'MNT_CONTROL_Z': 0.0,
|
|
||||||
'OF_PIT_IMAX': 100.0,
|
|
||||||
'AHRS_ORIENTATION': 0.0,
|
|
||||||
'SIMPLE': 0.0,
|
|
||||||
'RC2_MAX': 1929.0,
|
|
||||||
'RC8_FUNCTION': 0.0,
|
|
||||||
'INS_ACCSCAL_X': 0.992788,
|
|
||||||
'ACRO_P': 4.5,
|
|
||||||
'MNT_ANGMIN_ROL': -4500.0,
|
|
||||||
'OF_RLL_P': 2.5,
|
|
||||||
'STB_RLL_P': 3.5,
|
|
||||||
'STB_YAW_P': 3.0,
|
|
||||||
'SR0_RAW_SENS': 2.0,
|
|
||||||
'FLTMODE5': 0.0,
|
|
||||||
'RATE_YAW_I': 0.02,
|
|
||||||
'MAG_ENABLE': 1.0,
|
|
||||||
'MNT_RETRACT_Y': 0.0,
|
|
||||||
'MNT_RETRACT_X': 0.0,
|
|
||||||
'RATE_YAW_IMAX': 800.0,
|
|
||||||
'WPNAV_SPEED_DN': 150.0,
|
|
||||||
'WP_YAW_BEHAVIOR': 2.0,
|
|
||||||
'RC11_REV': 1.0,
|
|
||||||
'SYSID_THISMAV': 1.0,
|
|
||||||
'SR0_EXTRA1': 10.0,
|
|
||||||
'SR0_EXTRA2': 10.0,
|
|
||||||
'ACRO_BAL_PITCH': 200.0,
|
|
||||||
'STB_YAW_I': 0.0,
|
|
||||||
'INS_ACCSCAL_Z': 0.97621,
|
|
||||||
'INS_ACCSCAL_Y': 1.00147,
|
|
||||||
'LED_MODE': 9.0,
|
|
||||||
'FS_GCS_ENABLE': 0.0,
|
|
||||||
'MNT_RC_IN_ROLL': 0.0,
|
|
||||||
'INAV_TC_Z': 8.0,
|
|
||||||
'RATE_PIT_IMAX': 4500.0,
|
|
||||||
'HLD_LON_IMAX': 3000.0,
|
|
||||||
'THR_RATE_I': 0.0,
|
|
||||||
'SR3_EXTRA1': 0.0,
|
|
||||||
'STB_PIT_IMAX': 800.0,
|
|
||||||
'AHRS_TRIM_Z': 0.0,
|
|
||||||
'RC2_REV': 1.0,
|
|
||||||
'INS_MPU6K_FILTER': 20.0,
|
|
||||||
'THR_MIN': 130.0,
|
|
||||||
'AHRS_TRIM_Y': 0.021683,
|
|
||||||
'RC11_DZ': 0.0,
|
|
||||||
'THR_MAX': 1000.0,
|
|
||||||
'SR3_EXTRA2': 0.0,
|
|
||||||
'MNT_NEUTRAL_Z': 0.0,
|
|
||||||
'THR_MID': 300.0,
|
|
||||||
'MNT_NEUTRAL_X': 0.0,
|
|
||||||
'AMP_PER_VOLT': 18.002001,
|
|
||||||
'SR0_POSITION': 3.0,
|
|
||||||
'MNT_STAB_PAN': 0.0,
|
|
||||||
'FS_BATT_ENABLE': 0.0,
|
|
||||||
'LAND_SPEED': 50.0,
|
|
||||||
'OF_PIT_D': 0.12,
|
|
||||||
'SR0_PARAMS': 50.0,
|
|
||||||
'COMPASS_ORIENT': 0.0,
|
|
||||||
'WPNAV_ACCEL': 200.0,
|
|
||||||
'THR_ACCEL_IMAX': 5000.0,
|
|
||||||
'SR3_POSITION': 0.0,
|
|
||||||
'WPNAV_RADIUS': 100.0,
|
|
||||||
'WP_TOTAL': 14.0,
|
|
||||||
'RC8_MAX': 1856.0,
|
|
||||||
'OF_PIT_P': 2.5,
|
|
||||||
'SR3_RAW_SENS': 0.0,
|
|
||||||
'RTL_ALT_FINAL': 0.0,
|
|
||||||
'SR3_PARAMS': 0.0,
|
|
||||||
'SR0_EXTRA3': 2.0,
|
|
||||||
'LOITER_LAT_I': 0.5,
|
|
||||||
'RC6_DZ': 0.0,
|
|
||||||
'RC4_TRIM': 1524.0,
|
|
||||||
'RATE_RLL_P': 0.07,
|
|
||||||
'LOITER_LAT_D': 0.0,
|
|
||||||
'STB_PIT_P': 3.5,
|
|
||||||
'OF_PIT_I': 0.5,
|
|
||||||
'RATE_RLL_I': 1.0,
|
|
||||||
'AHRS_TRIM_X': 0.003997,
|
|
||||||
'RC3_REV': 1.0,
|
|
||||||
'STB_PIT_I': 0.0,
|
|
||||||
'FS_THR_ENABLE': 0.0,
|
|
||||||
'LOITER_LAT_P': 1.0,
|
|
||||||
'AHRS_RP_P': 0.1,
|
|
||||||
'FENCE_ACTION': 1.0,
|
|
||||||
'TOY_RATE': 1.0,
|
|
||||||
'RATE_RLL_D': 0.006,
|
|
||||||
'RC5_MIN': 1151.0,
|
|
||||||
'RC5_TRIM': 1676.0,
|
|
||||||
'STB_RLL_IMAX': 800.0,
|
|
||||||
'RC4_DZ': 40.0,
|
|
||||||
'AHRS_YAW_P': 0.1,
|
|
||||||
'RC11_TRIM': 1500.0,
|
|
||||||
'MOT_TCRV_ENABLE': 1.0,
|
|
||||||
'CAM_TRIGG_TYPE': 1.0,
|
|
||||||
'STB_YAW_IMAX': 800.0,
|
|
||||||
'RC4_MAX': 1942.0,
|
|
||||||
'LOITER_LAT_IMAX': 400.0,
|
|
||||||
'CH7_OPT': 9.0,
|
|
||||||
'RC11_FUNCTION': 7.0,
|
|
||||||
'SR0_EXT_STAT': 2.0,
|
|
||||||
'SONAR_TYPE': 0.0,
|
|
||||||
'RC3_MAX': 1930.0,
|
|
||||||
'RATE_YAW_D': 0.0,
|
|
||||||
'FENCE_ALT_MAX': 30.0,
|
|
||||||
'COMPASS_MOT_Y': 0.0,
|
|
||||||
'AXIS_ENABLE': 1.0,
|
|
||||||
'FENCE_ENABLE': 0.0,
|
|
||||||
'RC10_DZ': 0.0,
|
|
||||||
'PILOT_VELZ_MAX': 250.0,
|
|
||||||
'BATT_CAPACITY': 1760.0,
|
|
||||||
'FS_THR_VALUE': 975.0,
|
|
||||||
'RC4_MIN': 1115.0,
|
|
||||||
'MNT_ANGMAX_TIL': 4500.0,
|
|
||||||
'RTL_LOIT_TIME': 5000.0,
|
|
||||||
'ARMING_CHECK': 1.0,
|
|
||||||
'THR_RATE_P': 6.0,
|
|
||||||
'OF_RLL_IMAX': 100.0,
|
|
||||||
'RC6_MIN': 971.0,
|
|
||||||
'SR0_RAW_CTRL': 0.0,
|
|
||||||
'RC6_MAX': 2078.0,
|
|
||||||
'RC5_MAX': 1829.0,
|
|
||||||
'LOITER_LON_IMAX': 400.0,
|
|
||||||
'MNT_STAB_TILT': 0.0,
|
|
||||||
'MOT_TCRV_MIDPCT': 52.0,
|
|
||||||
'COMPASS_OFS_Z': -5.120774,
|
|
||||||
'COMPASS_OFS_Y': 46.709824,
|
|
||||||
'COMPASS_OFS_X': -20.490345,
|
|
||||||
'THR_ALT_I': 0.0,
|
|
||||||
'RC10_TRIM': 1500.0,
|
|
||||||
'INS_PRODUCT_ID': 88.0,
|
|
||||||
'RC11_MIN': 1100.0,
|
|
||||||
'FS_GPS_ENABLE': 1.0,
|
|
||||||
'HLD_LAT_IMAX': 3000.0,
|
|
||||||
'RC3_TRIM': 1476.0,
|
|
||||||
'RC6_FUNCTION': 0.0,
|
|
||||||
'TRIM_THROTTLE': 260.0,
|
|
||||||
'MNT_STAB_ROLL': 0.0,
|
|
||||||
'INAV_TC_XY': 2.5,
|
|
||||||
'RC1_DZ': 30.0,
|
|
||||||
'MNT_RETRACT_Z': 0.0,
|
|
||||||
'THR_ACC_ENABLE': 1.0,
|
|
||||||
'LOG_BITMASK': 830.0,
|
|
||||||
'TUNE_LOW': 0.0,
|
|
||||||
'CIRCLE_RATE': 5.0,
|
|
||||||
'CAM_DURATION': 10.0,
|
|
||||||
'MNT_NEUTRAL_Y': 0.0,
|
|
||||||
'RC10_MIN': 1100.0,
|
|
||||||
'INS_ACCOFFS_X': -0.019376,
|
|
||||||
'THR_RATE_D': 0.0,
|
|
||||||
'INS_ACCOFFS_Z': 1.370947,
|
|
||||||
'RC4_REV': 1.0,
|
|
||||||
'CIRCLE_RADIUS': 10.0,
|
|
||||||
'RATE_RLL_IMAX': 4500.0,
|
|
||||||
'HLD_LAT_P': 1.0,
|
|
||||||
'AHRS_GPS_MINSATS': 6.0,
|
|
||||||
'RC8_REV': 1.0,
|
|
||||||
'SONAR_GAIN': 0.2,
|
|
||||||
'RC2_TRIM': 1521.0,
|
|
||||||
'WP_INDEX': 0.0,
|
|
||||||
'RC1_REV': 1.0,
|
|
||||||
'RC7_DZ': 0.0,
|
|
||||||
'AHRS_GPS_USE': 1.0,
|
|
||||||
'MNT_ANGMIN_PAN': -4500.0,
|
|
||||||
'SR3_RC_CHAN': 0.0,
|
|
||||||
'COMPASS_LEARN': 0.0,
|
|
||||||
'ACRO_TRAINER': 1.0,
|
|
||||||
'CAM_SERVO_OFF': 1100.0,
|
|
||||||
'RC5_DZ': 0.0,
|
|
||||||
'SCHED_DEBUG': 0.0,
|
|
||||||
'RC11_MAX': 1900.0,
|
|
||||||
'AHRS_WIND_MAX': 0.0,
|
|
||||||
'SR3_EXT_STAT': 0.0,
|
|
||||||
'MNT_ANGMAX_PAN': 4500.0,
|
|
||||||
'MNT_ANGMAX_ROL': 4500.0,
|
|
||||||
'RC_SPEED': 490.0,
|
|
||||||
'SUPER_SIMPLE': 0.0,
|
|
||||||
'VOLT_DIVIDER': 10.0,
|
|
||||||
'COMPASS_MOTCT': 0.0,
|
|
||||||
'SR3_RAW_CTRL': 0.0,
|
|
||||||
'SONAR_ENABLE': 0.0,
|
|
||||||
'INS_ACCOFFS_Y': 0.362242,
|
|
||||||
'SYSID_SW_MREV': 120.0,
|
|
||||||
'WPNAV_LOIT_SPEED': 1000.0,
|
|
||||||
'BATT_MONITOR': 4.0,
|
|
||||||
'MNT_RC_IN_TILT': 8.0,
|
|
||||||
'CH8_OPT': 0.0,
|
|
||||||
'RTL_ALT': 1000.0,
|
|
||||||
'SR0_RC_CHAN': 2.0,
|
|
||||||
'RC1_MIN': 1111.0,
|
|
||||||
'RSSI_PIN': -1.0,
|
|
||||||
'MOT_TCRV_MAXPCT': 93.0,
|
|
||||||
'GND_ABS_PRESS': 101566.97,
|
|
||||||
'RC1_MAX': 1936.0,
|
|
||||||
'FENCE_TYPE': 3.0,
|
|
||||||
'RC5_FUNCTION': 0.0,
|
|
||||||
'OF_RLL_D': 0.12,
|
|
||||||
'BATT_VOLT_PIN': 13.0,
|
|
||||||
'WPNAV_SPEED': 1000.0,
|
|
||||||
'RC7_MAX': 1884.0,
|
|
||||||
'CAM_SERVO_ON': 1300.0,
|
|
||||||
'RATE_PIT_I': 1.0,
|
|
||||||
'RC7_MIN': 969.0,
|
|
||||||
'AHRS_COMP_BETA': 0.1,
|
|
||||||
'OF_RLL_I': 0.5,
|
|
||||||
'COMPASS_DEC': 0.0,
|
|
||||||
'RC3_MIN': 1113.0,
|
|
||||||
'RC2_DZ': 30.0,
|
|
||||||
'FENCE_RADIUS': 30.0,
|
|
||||||
'HLD_LON_I': 0.0,
|
|
||||||
'ACRO_BAL_ROLL': 200.0,
|
|
||||||
'COMPASS_AUTODEC': 1.0,
|
|
||||||
'SR3_EXTRA3': 0.0,
|
|
||||||
'COMPASS_USE': 1.0,
|
|
||||||
'RC10_MAX': 1900.0,
|
|
||||||
'RATE_PIT_P': 0.07,
|
|
||||||
'GND_TEMP': 21.610104,
|
|
||||||
'RC7_TRIM': 970.0,
|
|
||||||
'RC10_REV': 1.0,
|
|
||||||
'RATE_YAW_P': 0.2,
|
|
||||||
'THR_ALT_P': 1.0,
|
|
||||||
'RATE_PIT_D': 0.006,
|
|
||||||
'ESC': 0.0,
|
|
||||||
'MNT_ANGMIN_TIL': -4500.0,
|
|
||||||
'SERIAL3_BAUD': 57.0,
|
|
||||||
'RC8_MIN': 968.0,
|
|
||||||
'THR_ALT_IMAX': 300.0,
|
|
||||||
'SYSID_MYGCS': 255.0,
|
|
||||||
'INS_GYROFFS_Y': 0.581989,
|
|
||||||
'TUNE': 0.0,
|
|
||||||
'RC8_TRIM': 970.0,
|
|
||||||
'RC3_DZ': 30.0,
|
|
||||||
'AHRS_GPS_GAIN': 1.0,
|
|
||||||
'THR_ACCEL_D': 0.0,
|
|
||||||
'TELEM_DELAY': 0.0,
|
|
||||||
'THR_ACCEL_I': 0.5,
|
|
||||||
'COMPASS_MOT_X': 0.0,
|
|
||||||
'COMPASS_MOT_Z': 0.0,
|
|
||||||
'RC10_FUNCTION': 0.0,
|
|
||||||
'INS_GYROFFS_X': -0.001698,
|
|
||||||
'INS_GYROFFS_Z': 0.01517,
|
|
||||||
'RC6_TRIM': 1473.0,
|
|
||||||
'THR_ACCEL_P': 1.2,
|
|
||||||
'RC8_DZ': 0.0,
|
|
||||||
'HLD_LAT_I': 0.0,
|
|
||||||
'RC7_FUNCTION': 0.0,
|
|
||||||
'RC6_REV': 1.0,
|
|
||||||
'BATT_CURR_PIN': 12.0,
|
|
||||||
'WPNAV_SPEED_UP': 250.0,
|
|
||||||
'RC1_TRIM': 1524.0,
|
|
||||||
"MNT_JSTICK_SPD": 0.0,
|
|
||||||
"FLOW_ENABLE": 0.0,
|
|
||||||
}
|
|
||||||
assert logdata.messages == {}
|
|
||||||
assert logdata.modeChanges == {
|
|
||||||
2204: ('LOITER', 269),
|
|
||||||
4594: ('STABILIZE', 269),
|
|
||||||
644: ('ALT_HOLD', 269),
|
|
||||||
4404: ('ALT_HOLD', 269),
|
|
||||||
}
|
|
||||||
assert logdata.channels['GPS']['NSats'].min() == 6
|
|
||||||
assert logdata.channels['GPS']['NSats'].max() == 8
|
|
||||||
assert logdata.channels['GPS']['HDop'].listData[0] == (552, 4.68)
|
|
||||||
assert logdata.channels['GPS']['HDop'].listData[44] == (768, 4.67)
|
|
||||||
assert logdata.channels['GPS']['HDop'].listData[157] == (1288, 2.28)
|
|
||||||
assert logdata.channels['CTUN']['ThrOut'].listData[5] == (321, 139)
|
|
||||||
assert logdata.channels['CTUN']['ThrOut'].listData[45] == (409, 242)
|
|
||||||
assert logdata.channels['CTUN']['ThrOut'].listData[125] == (589, 266)
|
|
||||||
assert logdata.channels['CTUN']['CRate'].listData[3] == (317, 35)
|
|
||||||
assert logdata.channels['CTUN']['CRate'].listData[51] == (421, 31)
|
|
||||||
assert logdata.channels['CTUN']['CRate'].listData[115] == (563, -8)
|
|
||||||
assert int(logdata.filesizeKB) == 307
|
|
||||||
assert abs(logdata.durationSecs - 155.399) < 1e-9
|
|
||||||
assert logdata.lineCount == 4750
|
|
||||||
|
|
||||||
# test LogIterator class
|
|
||||||
lit = DataflashLog.LogIterator(logdata)
|
|
||||||
assert lit.currentLine == 0
|
|
||||||
assert lit.iterators == {
|
|
||||||
'CURR': (0, 310),
|
|
||||||
'ERR': (0, 307),
|
|
||||||
'NTUN': (0, 2206),
|
|
||||||
'CTUN': (0, 308),
|
|
||||||
'GPS': (0, 552),
|
|
||||||
'CMD': (0, 607),
|
|
||||||
'D32': (0, 305),
|
|
||||||
'ATT': (0, 311),
|
|
||||||
'EV': (0, 306),
|
|
||||||
'DU32': (0, 309),
|
|
||||||
'PM': (0, 479),
|
|
||||||
}
|
|
||||||
lit.jump(500)
|
|
||||||
assert lit.iterators == {
|
|
||||||
'CURR': (9, 514),
|
|
||||||
'ERR': (1, 553),
|
|
||||||
'NTUN': (0, 2206),
|
|
||||||
'CTUN': (87, 500),
|
|
||||||
'GPS': (0, 552),
|
|
||||||
'CMD': (0, 607),
|
|
||||||
'D32': (0, 305),
|
|
||||||
'ATT': (83, 501),
|
|
||||||
'EV': (4, 606),
|
|
||||||
'DU32': (9, 513),
|
|
||||||
'PM': (1, 719),
|
|
||||||
}
|
|
||||||
assert lit['CTUN']['ThrIn'] == 450
|
|
||||||
assert lit['ATT']['RollIn'] == 11.19
|
|
||||||
assert lit['CURR']['CurrTot'] == 25.827288
|
|
||||||
assert lit['D32']['Value'] == 11122
|
|
||||||
next(lit)
|
|
||||||
assert lit.iterators == {
|
|
||||||
'CURR': (9, 514),
|
|
||||||
'ERR': (1, 553),
|
|
||||||
'NTUN': (0, 2206),
|
|
||||||
'CTUN': (88, 502),
|
|
||||||
'GPS': (0, 552),
|
|
||||||
'CMD': (0, 607),
|
|
||||||
'D32': (0, 305),
|
|
||||||
'ATT': (83, 501),
|
|
||||||
'EV': (4, 606),
|
|
||||||
'DU32': (9, 513),
|
|
||||||
'PM': (1, 719),
|
|
||||||
}
|
|
||||||
lit.jump(4750)
|
|
||||||
next(lit)
|
|
||||||
assert lit.currentLine == 4751
|
|
||||||
assert lit['ATT']['Roll'] == 2.99
|
|
||||||
|
|
||||||
# TODO: unit test DataflashLog reading 2
|
|
||||||
# ...
|
|
||||||
|
|
||||||
# TODO: unit test the log test classes
|
|
||||||
# ...
|
|
||||||
|
|
||||||
print("All unit/regression tests GOOD\n")
|
|
||||||
|
|
||||||
except Exception:
|
|
||||||
print("Error found: " + traceback.format_exc())
|
|
||||||
print("UNIT TEST FAILED\n")
|
|
||||||
|
|
@ -1,12 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
class VehicleType:
|
|
||||||
Plane = 17
|
|
||||||
Copter = 23
|
|
||||||
Rover = 37
|
|
||||||
|
|
||||||
|
|
||||||
# these should really be "Plane", "Copter" and "Rover", but many
|
|
||||||
# things use these values as triggers in their code:
|
|
||||||
VehicleTypeString = {17: "ArduPlane", 23: "ArduCopter", 37: "ArduRover"}
|
|
||||||
|
|
@ -1,356 +0,0 @@
|
||||||
<?xml version="1.0" encoding="UTF-8"?>
|
|
||||||
<loganalysis>
|
|
||||||
<header>
|
|
||||||
<logfile>examples/robert_lefebvre_octo_PM.log</logfile>
|
|
||||||
<sizekb>302.7548828125</sizekb>
|
|
||||||
<sizelines>4750</sizelines>
|
|
||||||
<duration>0:02:35</duration>
|
|
||||||
<vehicletype>ArduCopter</vehicletype>
|
|
||||||
<coptertype>octo</coptertype>
|
|
||||||
<firmwareversion>V3.0.1</firmwareversion>
|
|
||||||
<firmwarehash>5c6503e2</firmwarehash>
|
|
||||||
<hardwaretype>APM 2</hardwaretype>
|
|
||||||
<freemem>1331</freemem>
|
|
||||||
<skippedlines>0</skippedlines>
|
|
||||||
</header>
|
|
||||||
<params>
|
|
||||||
<param name="RC7_REV" value="1.0" />
|
|
||||||
<param name="MNT_MODE" value="3.0" />
|
|
||||||
<param name="LOITER_LON_P" value="1.0" />
|
|
||||||
<param name="FLTMODE1" value="1.0" />
|
|
||||||
<param name="FLTMODE3" value="0.0" />
|
|
||||||
<param name="FLTMODE2" value="6.0" />
|
|
||||||
<param name="TUNE_HIGH" value="10000.0" />
|
|
||||||
<param name="FLTMODE4" value="5.0" />
|
|
||||||
<param name="FLTMODE6" value="2.0" />
|
|
||||||
<param name="SYSID_SW_TYPE" value="10.0" />
|
|
||||||
<param name="LOITER_LON_D" value="0.0" />
|
|
||||||
<param name="RC5_REV" value="1.0" />
|
|
||||||
<param name="THR_RATE_IMAX" value="300.0" />
|
|
||||||
<param name="MNT_RC_IN_PAN" value="0.0" />
|
|
||||||
<param name="RC2_MIN" value="1110.0" />
|
|
||||||
<param name="LOITER_LON_I" value="0.5" />
|
|
||||||
<param name="HLD_LON_P" value="1.0" />
|
|
||||||
<param name="STB_RLL_I" value="0.0" />
|
|
||||||
<param name="LOW_VOLT" value="10.5" />
|
|
||||||
<param name="MNT_CONTROL_Y" value="0.0" />
|
|
||||||
<param name="MNT_CONTROL_X" value="0.0" />
|
|
||||||
<param name="FRAME" value="1.0" />
|
|
||||||
<param name="MNT_CONTROL_Z" value="0.0" />
|
|
||||||
<param name="OF_PIT_IMAX" value="100.0" />
|
|
||||||
<param name="AHRS_ORIENTATION" value="0.0" />
|
|
||||||
<param name="SIMPLE" value="0.0" />
|
|
||||||
<param name="RC2_MAX" value="1929.0" />
|
|
||||||
<param name="MNT_JSTICK_SPD" value="0.0" />
|
|
||||||
<param name="RC8_FUNCTION" value="0.0" />
|
|
||||||
<param name="INS_ACCSCAL_X" value="0.992788" />
|
|
||||||
<param name="ACRO_P" value="4.5" />
|
|
||||||
<param name="MNT_ANGMIN_ROL" value="-4500.0" />
|
|
||||||
<param name="OF_RLL_P" value="2.5" />
|
|
||||||
<param name="STB_RLL_P" value="3.5" />
|
|
||||||
<param name="STB_YAW_P" value="3.0" />
|
|
||||||
<param name="SR0_RAW_SENS" value="2.0" />
|
|
||||||
<param name="FLTMODE5" value="0.0" />
|
|
||||||
<param name="RATE_YAW_I" value="0.02" />
|
|
||||||
<param name="MAG_ENABLE" value="1.0" />
|
|
||||||
<param name="MNT_RETRACT_Y" value="0.0" />
|
|
||||||
<param name="MNT_RETRACT_X" value="0.0" />
|
|
||||||
<param name="RATE_YAW_IMAX" value="800.0" />
|
|
||||||
<param name="WPNAV_SPEED_DN" value="150.0" />
|
|
||||||
<param name="WP_YAW_BEHAVIOR" value="2.0" />
|
|
||||||
<param name="RC11_REV" value="1.0" />
|
|
||||||
<param name="SYSID_THISMAV" value="1.0" />
|
|
||||||
<param name="SR0_EXTRA1" value="10.0" />
|
|
||||||
<param name="SR0_EXTRA2" value="10.0" />
|
|
||||||
<param name="ACRO_BAL_PITCH" value="200.0" />
|
|
||||||
<param name="STB_YAW_I" value="0.0" />
|
|
||||||
<param name="INS_ACCSCAL_Z" value="0.97621" />
|
|
||||||
<param name="INS_ACCSCAL_Y" value="1.00147" />
|
|
||||||
<param name="LED_MODE" value="9.0" />
|
|
||||||
<param name="FS_GCS_ENABLE" value="0.0" />
|
|
||||||
<param name="MNT_RC_IN_ROLL" value="0.0" />
|
|
||||||
<param name="INAV_TC_Z" value="8.0" />
|
|
||||||
<param name="RATE_PIT_IMAX" value="4500.0" />
|
|
||||||
<param name="HLD_LON_IMAX" value="3000.0" />
|
|
||||||
<param name="THR_RATE_I" value="0.0" />
|
|
||||||
<param name="SR3_EXTRA1" value="0.0" />
|
|
||||||
<param name="STB_PIT_IMAX" value="800.0" />
|
|
||||||
<param name="AHRS_TRIM_Z" value="0.0" />
|
|
||||||
<param name="RC2_REV" value="1.0" />
|
|
||||||
<param name="INS_MPU6K_FILTER" value="20.0" />
|
|
||||||
<param name="THR_MIN" value="130.0" />
|
|
||||||
<param name="AHRS_TRIM_Y" value="0.021683" />
|
|
||||||
<param name="RC11_DZ" value="0.0" />
|
|
||||||
<param name="THR_MAX" value="1000.0" />
|
|
||||||
<param name="SR3_EXTRA2" value="0.0" />
|
|
||||||
<param name="MNT_NEUTRAL_Z" value="0.0" />
|
|
||||||
<param name="THR_MID" value="300.0" />
|
|
||||||
<param name="MNT_NEUTRAL_X" value="0.0" />
|
|
||||||
<param name="AMP_PER_VOLT" value="18.002001" />
|
|
||||||
<param name="SR0_POSITION" value="3.0" />
|
|
||||||
<param name="MNT_STAB_PAN" value="0.0" />
|
|
||||||
<param name="FS_BATT_ENABLE" value="0.0" />
|
|
||||||
<param name="LAND_SPEED" value="50.0" />
|
|
||||||
<param name="OF_PIT_D" value="0.12" />
|
|
||||||
<param name="SR0_PARAMS" value="50.0" />
|
|
||||||
<param name="COMPASS_ORIENT" value="0.0" />
|
|
||||||
<param name="WPNAV_ACCEL" value="200.0" />
|
|
||||||
<param name="THR_ACCEL_IMAX" value="5000.0" />
|
|
||||||
<param name="SR3_POSITION" value="0.0" />
|
|
||||||
<param name="WPNAV_RADIUS" value="100.0" />
|
|
||||||
<param name="WP_TOTAL" value="14.0" />
|
|
||||||
<param name="RC8_MAX" value="1856.0" />
|
|
||||||
<param name="OF_PIT_P" value="2.5" />
|
|
||||||
<param name="SR3_RAW_SENS" value="0.0" />
|
|
||||||
<param name="RTL_ALT_FINAL" value="0.0" />
|
|
||||||
<param name="SR3_PARAMS" value="0.0" />
|
|
||||||
<param name="SR0_EXTRA3" value="2.0" />
|
|
||||||
<param name="LOITER_LAT_I" value="0.5" />
|
|
||||||
<param name="RC6_DZ" value="0.0" />
|
|
||||||
<param name="RC4_TRIM" value="1524.0" />
|
|
||||||
<param name="RATE_RLL_P" value="0.07" />
|
|
||||||
<param name="LOITER_LAT_D" value="0.0" />
|
|
||||||
<param name="STB_PIT_P" value="3.5" />
|
|
||||||
<param name="OF_PIT_I" value="0.5" />
|
|
||||||
<param name="RATE_RLL_I" value="1.0" />
|
|
||||||
<param name="AHRS_TRIM_X" value="0.003997" />
|
|
||||||
<param name="RC3_REV" value="1.0" />
|
|
||||||
<param name="STB_PIT_I" value="0.0" />
|
|
||||||
<param name="FS_THR_ENABLE" value="0.0" />
|
|
||||||
<param name="LOITER_LAT_P" value="1.0" />
|
|
||||||
<param name="AHRS_RP_P" value="0.1" />
|
|
||||||
<param name="FENCE_ACTION" value="1.0" />
|
|
||||||
<param name="TOY_RATE" value="1.0" />
|
|
||||||
<param name="RATE_RLL_D" value="0.006" />
|
|
||||||
<param name="RC5_MIN" value="1151.0" />
|
|
||||||
<param name="RC5_TRIM" value="1676.0" />
|
|
||||||
<param name="STB_RLL_IMAX" value="800.0" />
|
|
||||||
<param name="RC4_DZ" value="40.0" />
|
|
||||||
<param name="AHRS_YAW_P" value="0.1" />
|
|
||||||
<param name="RC11_TRIM" value="1500.0" />
|
|
||||||
<param name="MOT_TCRV_ENABLE" value="1.0" />
|
|
||||||
<param name="CAM_TRIGG_TYPE" value="1.0" />
|
|
||||||
<param name="STB_YAW_IMAX" value="800.0" />
|
|
||||||
<param name="RC4_MAX" value="1942.0" />
|
|
||||||
<param name="LOITER_LAT_IMAX" value="400.0" />
|
|
||||||
<param name="CH7_OPT" value="9.0" />
|
|
||||||
<param name="RC11_FUNCTION" value="7.0" />
|
|
||||||
<param name="SR0_EXT_STAT" value="2.0" />
|
|
||||||
<param name="SONAR_TYPE" value="0.0" />
|
|
||||||
<param name="RC3_MAX" value="1930.0" />
|
|
||||||
<param name="RATE_YAW_D" value="0.0" />
|
|
||||||
<param name="FENCE_ALT_MAX" value="30.0" />
|
|
||||||
<param name="COMPASS_MOT_Y" value="0.0" />
|
|
||||||
<param name="AXIS_ENABLE" value="1.0" />
|
|
||||||
<param name="FENCE_ENABLE" value="0.0" />
|
|
||||||
<param name="RC10_DZ" value="0.0" />
|
|
||||||
<param name="PILOT_VELZ_MAX" value="250.0" />
|
|
||||||
<param name="BATT_CAPACITY" value="1760.0" />
|
|
||||||
<param name="FS_THR_VALUE" value="975.0" />
|
|
||||||
<param name="RC4_MIN" value="1115.0" />
|
|
||||||
<param name="MNT_ANGMAX_TIL" value="4500.0" />
|
|
||||||
<param name="RTL_LOIT_TIME" value="5000.0" />
|
|
||||||
<param name="ARMING_CHECK" value="1.0" />
|
|
||||||
<param name="THR_RATE_P" value="6.0" />
|
|
||||||
<param name="OF_RLL_IMAX" value="100.0" />
|
|
||||||
<param name="RC6_MIN" value="971.0" />
|
|
||||||
<param name="SR0_RAW_CTRL" value="0.0" />
|
|
||||||
<param name="RC6_MAX" value="2078.0" />
|
|
||||||
<param name="RC5_MAX" value="1829.0" />
|
|
||||||
<param name="LOITER_LON_IMAX" value="400.0" />
|
|
||||||
<param name="MNT_STAB_TILT" value="0.0" />
|
|
||||||
<param name="MOT_TCRV_MIDPCT" value="52.0" />
|
|
||||||
<param name="COMPASS_OFS_Z" value="-5.120774" />
|
|
||||||
<param name="COMPASS_OFS_Y" value="46.709824" />
|
|
||||||
<param name="COMPASS_OFS_X" value="-20.490345" />
|
|
||||||
<param name="THR_ALT_I" value="0.0" />
|
|
||||||
<param name="RC10_TRIM" value="1500.0" />
|
|
||||||
<param name="INS_PRODUCT_ID" value="88.0" />
|
|
||||||
<param name="RC11_MIN" value="1100.0" />
|
|
||||||
<param name="FS_GPS_ENABLE" value="1.0" />
|
|
||||||
<param name="HLD_LAT_IMAX" value="3000.0" />
|
|
||||||
<param name="RC3_TRIM" value="1476.0" />
|
|
||||||
<param name="RC6_FUNCTION" value="0.0" />
|
|
||||||
<param name="TRIM_THROTTLE" value="260.0" />
|
|
||||||
<param name="MNT_STAB_ROLL" value="0.0" />
|
|
||||||
<param name="INAV_TC_XY" value="2.5" />
|
|
||||||
<param name="RC1_DZ" value="30.0" />
|
|
||||||
<param name="MNT_RETRACT_Z" value="0.0" />
|
|
||||||
<param name="THR_ACC_ENABLE" value="1.0" />
|
|
||||||
<param name="LOG_BITMASK" value="830.0" />
|
|
||||||
<param name="TUNE_LOW" value="0.0" />
|
|
||||||
<param name="CIRCLE_RATE" value="5.0" />
|
|
||||||
<param name="CAM_DURATION" value="10.0" />
|
|
||||||
<param name="MNT_NEUTRAL_Y" value="0.0" />
|
|
||||||
<param name="RC10_MIN" value="1100.0" />
|
|
||||||
<param name="INS_ACCOFFS_X" value="-0.019376" />
|
|
||||||
<param name="THR_RATE_D" value="0.0" />
|
|
||||||
<param name="INS_ACCOFFS_Z" value="1.370947" />
|
|
||||||
<param name="RC4_REV" value="1.0" />
|
|
||||||
<param name="CIRCLE_RADIUS" value="10.0" />
|
|
||||||
<param name="RATE_RLL_IMAX" value="4500.0" />
|
|
||||||
<param name="HLD_LAT_P" value="1.0" />
|
|
||||||
<param name="AHRS_GPS_MINSATS" value="6.0" />
|
|
||||||
<param name="FLOW_ENABLE" value="0.0" />
|
|
||||||
<param name="RC8_REV" value="1.0" />
|
|
||||||
<param name="SONAR_GAIN" value="0.2" />
|
|
||||||
<param name="RC2_TRIM" value="1521.0" />
|
|
||||||
<param name="WP_INDEX" value="0.0" />
|
|
||||||
<param name="RC1_REV" value="1.0" />
|
|
||||||
<param name="RC7_DZ" value="0.0" />
|
|
||||||
<param name="AHRS_GPS_USE" value="1.0" />
|
|
||||||
<param name="MNT_ANGMIN_PAN" value="-4500.0" />
|
|
||||||
<param name="SR3_RC_CHAN" value="0.0" />
|
|
||||||
<param name="COMPASS_LEARN" value="0.0" />
|
|
||||||
<param name="ACRO_TRAINER" value="1.0" />
|
|
||||||
<param name="CAM_SERVO_OFF" value="1100.0" />
|
|
||||||
<param name="RC5_DZ" value="0.0" />
|
|
||||||
<param name="SCHED_DEBUG" value="0.0" />
|
|
||||||
<param name="RC11_MAX" value="1900.0" />
|
|
||||||
<param name="AHRS_WIND_MAX" value="0.0" />
|
|
||||||
<param name="SR3_EXT_STAT" value="0.0" />
|
|
||||||
<param name="MNT_ANGMAX_PAN" value="4500.0" />
|
|
||||||
<param name="MNT_ANGMAX_ROL" value="4500.0" />
|
|
||||||
<param name="RC_SPEED" value="490.0" />
|
|
||||||
<param name="SUPER_SIMPLE" value="0.0" />
|
|
||||||
<param name="VOLT_DIVIDER" value="10.0" />
|
|
||||||
<param name="COMPASS_MOTCT" value="0.0" />
|
|
||||||
<param name="SR3_RAW_CTRL" value="0.0" />
|
|
||||||
<param name="SONAR_ENABLE" value="0.0" />
|
|
||||||
<param name="INS_ACCOFFS_Y" value="0.362242" />
|
|
||||||
<param name="SYSID_SW_MREV" value="120.0" />
|
|
||||||
<param name="WPNAV_LOIT_SPEED" value="1000.0" />
|
|
||||||
<param name="BATT_MONITOR" value="4.0" />
|
|
||||||
<param name="MNT_RC_IN_TILT" value="8.0" />
|
|
||||||
<param name="CH8_OPT" value="0.0" />
|
|
||||||
<param name="RTL_ALT" value="1000.0" />
|
|
||||||
<param name="SR0_RC_CHAN" value="2.0" />
|
|
||||||
<param name="RC1_MIN" value="1111.0" />
|
|
||||||
<param name="RSSI_PIN" value="-1.0" />
|
|
||||||
<param name="MOT_TCRV_MAXPCT" value="93.0" />
|
|
||||||
<param name="GND_ABS_PRESS" value="101566.97" />
|
|
||||||
<param name="RC1_MAX" value="1936.0" />
|
|
||||||
<param name="FENCE_TYPE" value="3.0" />
|
|
||||||
<param name="RC5_FUNCTION" value="0.0" />
|
|
||||||
<param name="OF_RLL_D" value="0.12" />
|
|
||||||
<param name="BATT_VOLT_PIN" value="13.0" />
|
|
||||||
<param name="WPNAV_SPEED" value="1000.0" />
|
|
||||||
<param name="RC7_MAX" value="1884.0" />
|
|
||||||
<param name="CAM_SERVO_ON" value="1300.0" />
|
|
||||||
<param name="RATE_PIT_I" value="1.0" />
|
|
||||||
<param name="RC7_MIN" value="969.0" />
|
|
||||||
<param name="AHRS_COMP_BETA" value="0.1" />
|
|
||||||
<param name="OF_RLL_I" value="0.5" />
|
|
||||||
<param name="COMPASS_DEC" value="0.0" />
|
|
||||||
<param name="RC3_MIN" value="1113.0" />
|
|
||||||
<param name="RC2_DZ" value="30.0" />
|
|
||||||
<param name="FENCE_RADIUS" value="30.0" />
|
|
||||||
<param name="HLD_LON_I" value="0.0" />
|
|
||||||
<param name="ACRO_BAL_ROLL" value="200.0" />
|
|
||||||
<param name="COMPASS_AUTODEC" value="1.0" />
|
|
||||||
<param name="SR3_EXTRA3" value="0.0" />
|
|
||||||
<param name="COMPASS_USE" value="1.0" />
|
|
||||||
<param name="RC10_MAX" value="1900.0" />
|
|
||||||
<param name="RATE_PIT_P" value="0.07" />
|
|
||||||
<param name="GND_TEMP" value="21.610104" />
|
|
||||||
<param name="RC7_TRIM" value="970.0" />
|
|
||||||
<param name="RC10_REV" value="1.0" />
|
|
||||||
<param name="RATE_YAW_P" value="0.2" />
|
|
||||||
<param name="THR_ALT_P" value="1.0" />
|
|
||||||
<param name="RATE_PIT_D" value="0.006" />
|
|
||||||
<param name="ESC" value="0.0" />
|
|
||||||
<param name="MNT_ANGMIN_TIL" value="-4500.0" />
|
|
||||||
<param name="SERIAL3_BAUD" value="57.0" />
|
|
||||||
<param name="RC8_MIN" value="968.0" />
|
|
||||||
<param name="THR_ALT_IMAX" value="300.0" />
|
|
||||||
<param name="SYSID_MYGCS" value="255.0" />
|
|
||||||
<param name="INS_GYROFFS_Y" value="0.581989" />
|
|
||||||
<param name="TUNE" value="0.0" />
|
|
||||||
<param name="RC8_TRIM" value="970.0" />
|
|
||||||
<param name="RC3_DZ" value="30.0" />
|
|
||||||
<param name="AHRS_GPS_GAIN" value="1.0" />
|
|
||||||
<param name="THR_ACCEL_D" value="0.0" />
|
|
||||||
<param name="TELEM_DELAY" value="0.0" />
|
|
||||||
<param name="THR_ACCEL_I" value="0.5" />
|
|
||||||
<param name="COMPASS_MOT_X" value="0.0" />
|
|
||||||
<param name="COMPASS_MOT_Z" value="0.0" />
|
|
||||||
<param name="RC10_FUNCTION" value="0.0" />
|
|
||||||
<param name="INS_GYROFFS_X" value="-0.001698" />
|
|
||||||
<param name="INS_GYROFFS_Z" value="0.01517" />
|
|
||||||
<param name="RC6_TRIM" value="1473.0" />
|
|
||||||
<param name="THR_ACCEL_P" value="1.2" />
|
|
||||||
<param name="RC8_DZ" value="0.0" />
|
|
||||||
<param name="HLD_LAT_I" value="0.0" />
|
|
||||||
<param name="RC7_FUNCTION" value="0.0" />
|
|
||||||
<param name="RC6_REV" value="1.0" />
|
|
||||||
<param name="BATT_CURR_PIN" value="12.0" />
|
|
||||||
<param name="WPNAV_SPEED_UP" value="250.0" />
|
|
||||||
<param name="RC1_TRIM" value="1524.0" />
|
|
||||||
</params>
|
|
||||||
<results>
|
|
||||||
<result>
|
|
||||||
<name>Brownout</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Compass</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message>No MAG data, unable to test mag_field interference
|
|
||||||
</message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Dupe Log Data</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Empty</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Event/Failsafe</name>
|
|
||||||
<status>FAIL</status>
|
|
||||||
<message>ERR found: GPS </message>
|
|
||||||
<data>(test data will be embedded here at some point)</data>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>GPS</name>
|
|
||||||
<status>WARN</status>
|
|
||||||
<message>Min satellites: 6, Max HDop: 4.68</message>
|
|
||||||
<data>(test data will be embedded here at some point)</data>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Parameters</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>PM</name>
|
|
||||||
<status>FAIL</status>
|
|
||||||
<message>14 slow loop lines found, max 18.56% on line 2983</message>
|
|
||||||
<data>(test data will be embedded here at some point)</data>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Pitch/Roll</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Thrust</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>VCC</name>
|
|
||||||
<status>GOOD</status>
|
|
||||||
<message></message>
|
|
||||||
</result>
|
|
||||||
<result>
|
|
||||||
<name>Vibration</name>
|
|
||||||
<status>UNKNOWN</status>
|
|
||||||
<message>No IMU log data</message>
|
|
||||||
</result>
|
|
||||||
</results>
|
|
||||||
</loganalysis>
|
|
||||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -1,135 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
# from ArduCopter/defines.h
|
|
||||||
AUTOTUNE_INITIALISED = 30
|
|
||||||
AUTOTUNE_OFF = 31
|
|
||||||
AUTOTUNE_RESTART = 32
|
|
||||||
AUTOTUNE_SUCCESS = 33
|
|
||||||
AUTOTUNE_FAILED = 34
|
|
||||||
AUTOTUNE_REACHED_LIMIT = 35
|
|
||||||
AUTOTUNE_PILOT_TESTING = 36
|
|
||||||
AUTOTUNE_SAVEDGAINS = 37
|
|
||||||
|
|
||||||
AUTOTUNE_EVENTS = frozenset(
|
|
||||||
[
|
|
||||||
AUTOTUNE_INITIALISED,
|
|
||||||
AUTOTUNE_OFF,
|
|
||||||
AUTOTUNE_RESTART,
|
|
||||||
AUTOTUNE_SUCCESS,
|
|
||||||
AUTOTUNE_FAILED,
|
|
||||||
AUTOTUNE_REACHED_LIMIT,
|
|
||||||
AUTOTUNE_PILOT_TESTING,
|
|
||||||
AUTOTUNE_SAVEDGAINS,
|
|
||||||
]
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
class TestAutotune(Test):
|
|
||||||
'''test for autotune success (copter only)'''
|
|
||||||
|
|
||||||
class AutotuneSession(object):
|
|
||||||
def __init__(self, events):
|
|
||||||
self.events = events
|
|
||||||
|
|
||||||
@property
|
|
||||||
def linestart(self):
|
|
||||||
return self.events[0][0]
|
|
||||||
|
|
||||||
@property
|
|
||||||
def linestop(self):
|
|
||||||
return self.events[-1][0]
|
|
||||||
|
|
||||||
@property
|
|
||||||
def success(self):
|
|
||||||
return AUTOTUNE_SUCCESS in [i for _, i in self.events]
|
|
||||||
|
|
||||||
@property
|
|
||||||
def failure(self):
|
|
||||||
return AUTOTUNE_FAILED in [i for _, i in self.events]
|
|
||||||
|
|
||||||
@property
|
|
||||||
def limit(self):
|
|
||||||
return AUTOTUNE_REACHED_LIMIT in [i for _, i in self.events]
|
|
||||||
|
|
||||||
def __repr__(self):
|
|
||||||
return "<AutotuneSession {}-{}>".format(self.linestart, self.linestop)
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Autotune"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if logdata.vehicleType != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
for i in ['EV', 'ATDE', 'ATUN']:
|
|
||||||
r = False
|
|
||||||
if i not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No {} log data".format(i)
|
|
||||||
r = True
|
|
||||||
if r:
|
|
||||||
return
|
|
||||||
|
|
||||||
events = list(filter(lambda x: x[1] in AUTOTUNE_EVENTS, logdata.channels["EV"]["Id"].listData))
|
|
||||||
attempts = []
|
|
||||||
|
|
||||||
j = None
|
|
||||||
for i in range(0, len(events)):
|
|
||||||
line, ev = events[i]
|
|
||||||
if ev == AUTOTUNE_INITIALISED:
|
|
||||||
if j is not None:
|
|
||||||
attempts.append(TestAutotune.AutotuneSession(events[j:i]))
|
|
||||||
j = i
|
|
||||||
|
|
||||||
# last attempt
|
|
||||||
if j is not None:
|
|
||||||
attempts.append(TestAutotune.AutotuneSession(events[j:]))
|
|
||||||
|
|
||||||
for a in attempts:
|
|
||||||
# this should not be necessary!
|
|
||||||
def class_from_channel(c):
|
|
||||||
members = dict({'__init__': lambda x: setattr(x, i, None) for i in logdata.channels[c]})
|
|
||||||
cls = type('Channel__{:s}'.format(c), (object,), members)
|
|
||||||
return cls
|
|
||||||
|
|
||||||
# last wins
|
|
||||||
if a.success:
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
s = "[+]"
|
|
||||||
elif a.failure:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
s = "[-]"
|
|
||||||
else:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
s = "[?]"
|
|
||||||
|
|
||||||
s += " Autotune {}-{}\n".format(a.linestart, a.linestop)
|
|
||||||
self.result.statusMessage += s
|
|
||||||
|
|
||||||
if verbose:
|
|
||||||
linenext = a.linestart + 1
|
|
||||||
while linenext < a.linestop:
|
|
||||||
try:
|
|
||||||
line = logdata.channels['ATUN']['RateMax'].getNearestValueFwd(linenext)[1]
|
|
||||||
if line > a.linestop:
|
|
||||||
break
|
|
||||||
except ValueError:
|
|
||||||
break
|
|
||||||
atun = class_from_channel('ATUN')()
|
|
||||||
for key in logdata.channels['ATUN']:
|
|
||||||
setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[0])
|
|
||||||
linenext = logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[1] + 1
|
|
||||||
self.result.statusMessage += (
|
|
||||||
"ATUN Axis:{atun.Axis} TuneStep:{atun.TuneStep} RateMin:{atun.RateMin:5.0f}"
|
|
||||||
" RateMax:{atun.RateMax:5.0f} RPGain:{atun.RPGain:1.4f} RDGain:{atun.RDGain:1.4f}"
|
|
||||||
" SPGain:{atun.SPGain:1.1f} (@line:{l})\n"
|
|
||||||
).format(l=linenext, atun=atun)
|
|
||||||
self.result.statusMessage += '\n'
|
|
||||||
|
|
@ -1,47 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestBrownout(Test):
|
|
||||||
'''test for a log that has been truncated in flight'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Brownout"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
isArmed = False
|
|
||||||
# FIXME: cope with LOG_ARM_DISARM_MSG message
|
|
||||||
if "EV" in logdata.channels:
|
|
||||||
# step through the arm/disarm events in order, to see if they're symmetrical
|
|
||||||
# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm,
|
|
||||||
# not takeoff+land
|
|
||||||
for line, ev in logdata.channels["EV"]["Id"].listData:
|
|
||||||
if ev == 10:
|
|
||||||
isArmed = True
|
|
||||||
elif ev == 11:
|
|
||||||
isArmed = False
|
|
||||||
|
|
||||||
if "CTUN" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No CTUN log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
if "BarAlt" in logdata.channels['CTUN']:
|
|
||||||
self.ctun_baralt_att = 'BarAlt'
|
|
||||||
else:
|
|
||||||
self.ctun_baralt_att = 'BAlt'
|
|
||||||
|
|
||||||
# check for relative altitude at end
|
|
||||||
(finalAlt, finalAltLine) = logdata.channels["CTUN"][self.ctun_baralt_att].getNearestValue(
|
|
||||||
logdata.lineCount, lookForwards=False
|
|
||||||
)
|
|
||||||
|
|
||||||
finalAltMax = 3.0 # max alt offset that we'll still consider to be on the ground
|
|
||||||
if isArmed and finalAlt > finalAltMax:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Truncated Log? Ends while armed at altitude %.2fm" % finalAlt
|
|
||||||
|
|
@ -1,161 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
import math
|
|
||||||
from functools import reduce
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestCompass(Test):
|
|
||||||
'''test for compass offsets and throttle interference'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Compass"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
def vec_len(x):
|
|
||||||
return math.sqrt(x[0] ** 2 + x[1] ** 2 + x[2] ** 2)
|
|
||||||
|
|
||||||
def FAIL():
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
|
|
||||||
def WARN():
|
|
||||||
if self.result.status != TestResult.StatusType.FAIL:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
|
|
||||||
try:
|
|
||||||
warnOffset = 300
|
|
||||||
failOffset = 500
|
|
||||||
param_offsets = (
|
|
||||||
logdata.parameters["COMPASS_OFS_X"],
|
|
||||||
logdata.parameters["COMPASS_OFS_Y"],
|
|
||||||
logdata.parameters["COMPASS_OFS_Z"],
|
|
||||||
)
|
|
||||||
|
|
||||||
if vec_len(param_offsets) > failOffset:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = "FAIL: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
|
|
||||||
param_offsets[0],
|
|
||||||
param_offsets[1],
|
|
||||||
param_offsets[2],
|
|
||||||
)
|
|
||||||
elif vec_len(param_offsets) > warnOffset:
|
|
||||||
WARN()
|
|
||||||
self.result.statusMessage = "WARN: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
|
|
||||||
param_offsets[0],
|
|
||||||
param_offsets[1],
|
|
||||||
param_offsets[2],
|
|
||||||
)
|
|
||||||
|
|
||||||
if "MAG" in logdata.channels:
|
|
||||||
max_log_offsets = zip(
|
|
||||||
map(lambda x: x[1], logdata.channels["MAG"]["OfsX"].listData),
|
|
||||||
map(lambda x: x[1], logdata.channels["MAG"]["OfsY"].listData),
|
|
||||||
map(lambda x: x[1], logdata.channels["MAG"]["OfsZ"].listData),
|
|
||||||
)
|
|
||||||
max_log_offsets = reduce(lambda x, y: x if vec_len(x) > vec_len(y) else y, max_log_offsets)
|
|
||||||
|
|
||||||
if vec_len(max_log_offsets) > failOffset:
|
|
||||||
FAIL()
|
|
||||||
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],
|
|
||||||
)
|
|
||||||
elif vec_len(max_log_offsets) > warnOffset:
|
|
||||||
WARN()
|
|
||||||
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],
|
|
||||||
)
|
|
||||||
|
|
||||||
# check for mag field length change, and length outside of recommended range
|
|
||||||
if "MAG" in logdata.channels:
|
|
||||||
percentDiffThresholdWARN = 0.25
|
|
||||||
percentDiffThresholdFAIL = 0.35
|
|
||||||
minMagFieldThreshold = 120.0
|
|
||||||
maxMagFieldThreshold = 550.0
|
|
||||||
index = 0
|
|
||||||
length = len(logdata.channels["MAG"]["MagX"].listData)
|
|
||||||
magField = []
|
|
||||||
(minMagField, maxMagField) = (None, None)
|
|
||||||
(minMagFieldLine, maxMagFieldLine) = (None, None)
|
|
||||||
zerosFound = False
|
|
||||||
while index < length:
|
|
||||||
mx = logdata.channels["MAG"]["MagX"].listData[index][1]
|
|
||||||
my = logdata.channels["MAG"]["MagY"].listData[index][1]
|
|
||||||
mz = logdata.channels["MAG"]["MagZ"].listData[index][1]
|
|
||||||
if (
|
|
||||||
(mx == 0) and (my == 0) and (mz == 0)
|
|
||||||
): # sometimes they're zero, not sure why, same reason as why we get NaNs as offsets?
|
|
||||||
zerosFound = True
|
|
||||||
else:
|
|
||||||
mf = math.sqrt(mx * mx + my * my + mz * mz)
|
|
||||||
magField.append(mf)
|
|
||||||
if mf < minMagField:
|
|
||||||
minMagField = mf
|
|
||||||
minMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
|
|
||||||
if mf > maxMagField:
|
|
||||||
maxMagField = mf
|
|
||||||
maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
|
|
||||||
if index == 0:
|
|
||||||
(minMagField, maxMagField) = (mf, mf)
|
|
||||||
index += 1
|
|
||||||
if minMagField is None:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "No valid mag data found\n"
|
|
||||||
else:
|
|
||||||
percentDiff = (maxMagField - minMagField) / minMagField
|
|
||||||
if percentDiff > percentDiffThresholdFAIL:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff * 100)
|
|
||||||
)
|
|
||||||
elif percentDiff > percentDiffThresholdWARN:
|
|
||||||
WARN()
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage + "Moderate change in mag_field (%.2f%%)\n" % (percentDiff * 100)
|
|
||||||
)
|
|
||||||
else:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage
|
|
||||||
+ "mag_field interference within limits (%.2f%%)\n" % (percentDiff * 100)
|
|
||||||
)
|
|
||||||
if minMagField < minMagFieldThreshold:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage
|
|
||||||
+ "Min mag field length (%.2f) < recommended (%.2f)\n" % (minMagField, minMagFieldThreshold)
|
|
||||||
)
|
|
||||||
if maxMagField > maxMagFieldThreshold:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage
|
|
||||||
+ "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField, maxMagFieldThreshold)
|
|
||||||
)
|
|
||||||
if verbose:
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (
|
|
||||||
minMagField,
|
|
||||||
minMagFieldLine,
|
|
||||||
)
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "Max mag_field of %.2f on line %d\n" % (
|
|
||||||
maxMagField,
|
|
||||||
maxMagFieldLine,
|
|
||||||
)
|
|
||||||
if zerosFound:
|
|
||||||
if self.result.status == TestResult.StatusType.GOOD:
|
|
||||||
WARN()
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
|
|
||||||
|
|
||||||
else:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
self.result.statusMessage + "No MAG data, unable to test mag_field interference\n"
|
|
||||||
)
|
|
||||||
|
|
||||||
except KeyError as e:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = str(e) + ' not found'
|
|
||||||
|
|
@ -1,110 +0,0 @@
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
# import scipy
|
|
||||||
# import pylab #### TEMP!!! only for dev
|
|
||||||
# from scipy import signal
|
|
||||||
|
|
||||||
|
|
||||||
class TestDualGyroDrift(Test):
|
|
||||||
'''test for gyro drift between dual IMU data'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Gyro Drift"
|
|
||||||
self.enable = False
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
# if "IMU" not in logdata.channels or "IMU2" not in logdata.channels:
|
|
||||||
# self.result.status = TestResult.StatusType.NA
|
|
||||||
# return
|
|
||||||
|
|
||||||
# imuX = logdata.channels["IMU"]["GyrX"].listData
|
|
||||||
# imu2X = logdata.channels["IMU2"]["GyrX"].listData
|
|
||||||
|
|
||||||
# # NOTE: weird thing about Holger's log is that the counts of IMU+IMU2 are different
|
|
||||||
# print("length 1: %.2f, length 2: %.2f" % (len(imuX),len(imu2X)))
|
|
||||||
# #assert(len(imuX) == len(imu2X))
|
|
||||||
|
|
||||||
# # divide the curve into segments and get the average of each segment
|
|
||||||
# # we will get the diff between those averages, rather than a per-sample diff as the IMU+IMU2 arrays are often not the same length
|
|
||||||
# diffThresholdWARN = 0.03
|
|
||||||
# diffThresholdFAIL = 0.05
|
|
||||||
# nSamples = 10
|
|
||||||
# imu1XAverages, imu1YAverages, imu1ZAverages, imu2XAverages, imu2YAverages, imu2ZAverages = ([],[],[],[],[],[])
|
|
||||||
# imuXDiffAverages, imuYDiffAverages, imuZDiffAverages = ([],[],[])
|
|
||||||
# maxDiffX, maxDiffY, maxDiffZ = (0,0,0)
|
|
||||||
# sliceLength1 = len(logdata.channels["IMU"]["GyrX"].dictData.values()) / nSamples
|
|
||||||
# sliceLength2 = len(logdata.channels["IMU2"]["GyrX"].dictData.values()) / nSamples
|
|
||||||
# for i in range(0,nSamples):
|
|
||||||
# imu1XAverages.append(numpy.mean(logdata.channels["IMU"]["GyrX"].dictData.values()[i*sliceLength1:i*sliceLength1+sliceLength1]))
|
|
||||||
# imu1YAverages.append(numpy.mean(logdata.channels["IMU"]["GyrY"].dictData.values()[i*sliceLength1:i*sliceLength1+sliceLength1]))
|
|
||||||
# imu1ZAverages.append(numpy.mean(logdata.channels["IMU"]["GyrZ"].dictData.values()[i*sliceLength1:i*sliceLength1+sliceLength1]))
|
|
||||||
# imu2XAverages.append(numpy.mean(logdata.channels["IMU2"]["GyrX"].dictData.values()[i*sliceLength2:i*sliceLength2+sliceLength2]))
|
|
||||||
# imu2YAverages.append(numpy.mean(logdata.channels["IMU2"]["GyrY"].dictData.values()[i*sliceLength2:i*sliceLength2+sliceLength2]))
|
|
||||||
# imu2ZAverages.append(numpy.mean(logdata.channels["IMU2"]["GyrZ"].dictData.values()[i*sliceLength2:i*sliceLength2+sliceLength2]))
|
|
||||||
# imuXDiffAverages.append(imu2XAverages[-1]-imu1XAverages[-1])
|
|
||||||
# imuYDiffAverages.append(imu2YAverages[-1]-imu1YAverages[-1])
|
|
||||||
# imuZDiffAverages.append(imu2ZAverages[-1]-imu1ZAverages[-1])
|
|
||||||
# if abs(imuXDiffAverages[-1]) > maxDiffX:
|
|
||||||
# maxDiffX = imuXDiffAverages[-1]
|
|
||||||
# if abs(imuYDiffAverages[-1]) > maxDiffY:
|
|
||||||
# maxDiffY = imuYDiffAverages[-1]
|
|
||||||
# if abs(imuZDiffAverages[-1]) > maxDiffZ:
|
|
||||||
# maxDiffZ = imuZDiffAverages[-1]
|
|
||||||
|
|
||||||
# if max(maxDiffX,maxDiffY,maxDiffZ) > diffThresholdFAIL:
|
|
||||||
# self.result.status = TestResult.StatusType.FAIL
|
|
||||||
# self.result.statusMessage = "IMU/IMU2 gyro averages differ by more than %s radians" % diffThresholdFAIL
|
|
||||||
# elif max(maxDiffX,maxDiffY,maxDiffZ) > diffThresholdWARN:
|
|
||||||
# self.result.status = TestResult.StatusType.WARN
|
|
||||||
# self.result.statusMessage = "IMU/IMU2 gyro averages differ by more than %s radians" % diffThresholdWARN
|
|
||||||
|
|
||||||
# # pylab.plot(zip(*imuX)[0], zip(*imuX)[1], 'g')
|
|
||||||
# # pylab.plot(zip(*imu2X)[0], zip(*imu2X)[1], 'r')
|
|
||||||
|
|
||||||
# #pylab.plot(range(0,(nSamples*sliceLength1),sliceLength1), imu1ZAverages, 'b')
|
|
||||||
|
|
||||||
# print("Gyro averages1X: " + repr(imu1XAverages))
|
|
||||||
# print("Gyro averages1Y: " + repr(imu1YAverages))
|
|
||||||
# print("Gyro averages1Z: " + repr(imu1ZAverages) + "\n")
|
|
||||||
# print("Gyro averages2X: " + repr(imu2XAverages))
|
|
||||||
# print("Gyro averages2Y: " + repr(imu2YAverages))
|
|
||||||
# print("Gyro averages2Z: " + repr(imu2ZAverages) + "\n")
|
|
||||||
# print("Gyro averages diff X: " + repr(imuXDiffAverages))
|
|
||||||
# print("Gyro averages diff Y: " + repr(imuYDiffAverages))
|
|
||||||
# print("Gyro averages diff Z: " + repr(imuZDiffAverages))
|
|
||||||
|
|
||||||
# # lowpass filter using numpy
|
|
||||||
# # cutoff = 100
|
|
||||||
# # fs = 10000.0
|
|
||||||
# # b,a = scipy.signal.filter_design.butter(5,cutoff/(fs/2))
|
|
||||||
# # imuXFiltered = scipy.signal.filtfilt(b,a,zip(*imuX)[1])
|
|
||||||
# # imu2XFiltered = scipy.signal.filtfilt(b,a,zip(*imu2X)[1])
|
|
||||||
# #pylab.plot(imuXFiltered, 'r')
|
|
||||||
|
|
||||||
# # TMP: DISPLAY BEFORE+AFTER plots
|
|
||||||
# pylab.show()
|
|
||||||
|
|
||||||
# # print("imuX average before lowpass filter: %.8f" % logdata.channels["IMU"]["GyrX"].avg())
|
|
||||||
# # print("imuX average after lowpass filter: %.8f" % numpy.mean(imuXFiltered))
|
|
||||||
# # print("imu2X average before lowpass filter: %.8f" % logdata.channels["IMU2"]["GyrX"].avg())
|
|
||||||
# # print("imu2X average after lowpass filter: %.8f" % numpy.mean(imu2XFiltered))
|
|
||||||
|
|
||||||
# avg1X = logdata.channels["IMU"]["GyrX"].avg()
|
|
||||||
# avg1Y = logdata.channels["IMU"]["GyrY"].avg()
|
|
||||||
# avg1Z = logdata.channels["IMU"]["GyrZ"].avg()
|
|
||||||
# avg2X = logdata.channels["IMU2"]["GyrX"].avg()
|
|
||||||
# avg2Y = logdata.channels["IMU2"]["GyrY"].avg()
|
|
||||||
# avg2Z = logdata.channels["IMU2"]["GyrZ"].avg()
|
|
||||||
|
|
||||||
# avgRatioX = (max(avg1X,avg2X) - min(avg1X,avg2X)) / #abs(max(avg1X,avg2X) / min(avg1X,avg2X))
|
|
||||||
# avgRatioY = abs(max(avg1Y,avg2Y) / min(avg1Y,avg2Y))
|
|
||||||
# avgRatioZ = abs(max(avg1Z,avg2Z) / min(avg1Z,avg2Z))
|
|
||||||
|
|
||||||
# self.result.statusMessage = "IMU gyro avg: %.4f,%.4f,%.4f\nIMU2 gyro avg: %.4f,%.4f,%.4f\nAvg ratio: %.4f,%.4f,%.4f" % (avg1X,avg1Y,avg1Z, avg2X,avg2Y,avg2Z, avgRatioX,avgRatioY,avgRatioZ)
|
|
||||||
|
|
@ -1,73 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestDupeLogData(Test):
|
|
||||||
'''test for duplicated data in log, which has been happening on PX4/Pixhawk'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Dupe Log Data"
|
|
||||||
|
|
||||||
def __matchSample(self, sample, sampleStartIndex, logdata):
|
|
||||||
'''return the line number where a match is found, otherwise return False'''
|
|
||||||
|
|
||||||
# ignore if all data in sample is the same value
|
|
||||||
nSame = 0
|
|
||||||
for s in sample:
|
|
||||||
if s[1] == sample[0][1]:
|
|
||||||
nSame += 1
|
|
||||||
if nSame == 20:
|
|
||||||
return False
|
|
||||||
|
|
||||||
# c
|
|
||||||
data = logdata.channels["ATT"]["Pitch"].listData
|
|
||||||
for i in range(sampleStartIndex, len(data)):
|
|
||||||
if i == sampleStartIndex:
|
|
||||||
continue # skip matching against ourselves
|
|
||||||
j = 0
|
|
||||||
while j < 20 and (i + j) < len(data) and data[i + j][1] == sample[j][1]:
|
|
||||||
j += 1
|
|
||||||
if j == 20: # all samples match
|
|
||||||
return data[i][0]
|
|
||||||
|
|
||||||
return False
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
# this could be made more flexible by not hard-coding to use ATT data, could make it dynamic based on whatever
|
|
||||||
# is available as long as it is highly variable
|
|
||||||
if "ATT" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No ATT log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
# pick 10 sample points within the range of ATT data we have
|
|
||||||
sampleStartIndices = []
|
|
||||||
attEndIndex = len(logdata.channels["ATT"]["Pitch"].listData) - 1
|
|
||||||
step = int(attEndIndex / 11)
|
|
||||||
for i in range(step, attEndIndex - step, step):
|
|
||||||
sampleStartIndices.append(i)
|
|
||||||
|
|
||||||
# get 20 datapoints of pitch from each sample location and check for a match elsewhere
|
|
||||||
sampleIndex = 0
|
|
||||||
for i in range(sampleStartIndices[0], len(logdata.channels["ATT"]["Pitch"].listData)):
|
|
||||||
if i == sampleStartIndices[sampleIndex]:
|
|
||||||
sample = logdata.channels["ATT"]["Pitch"].listData[i : i + 20]
|
|
||||||
matchedLine = self.__matchSample(sample, i, logdata)
|
|
||||||
if matchedLine:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Duplicate data chunks found in log (%d and %d)" % (
|
|
||||||
sample[0][0],
|
|
||||||
matchedLine,
|
|
||||||
)
|
|
||||||
return
|
|
||||||
sampleIndex += 1
|
|
||||||
if sampleIndex >= len(sampleStartIndices):
|
|
||||||
break
|
|
||||||
|
|
@ -1,23 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestEmpty(Test):
|
|
||||||
'''test for empty or near-empty logs'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Empty"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
# all the logic for this test is in the helper function, as it can also be called up front as an early exit
|
|
||||||
emptyErr = DataflashLog.DataflashLogHelper.isLogEmpty(logdata)
|
|
||||||
if emptyErr:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Empty log? " + emptyErr
|
|
||||||
|
|
@ -1,57 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestEvents(Test):
|
|
||||||
'''test for erroneous events and failsafes'''
|
|
||||||
|
|
||||||
# TODO: need to check for vehicle-specific codes
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Event/Failsafe"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
errors = set()
|
|
||||||
|
|
||||||
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 == 2 and (eCode == 1):
|
|
||||||
errors.add("PPM")
|
|
||||||
elif subSys == 3 and (eCode == 1 or eCode == 2):
|
|
||||||
errors.add("COMPASS")
|
|
||||||
elif subSys == 5 and (eCode == 1):
|
|
||||||
errors.add("FS_THR")
|
|
||||||
elif subSys == 6 and (eCode == 1):
|
|
||||||
errors.add("FS_BATT")
|
|
||||||
elif subSys == 7 and (eCode == 1):
|
|
||||||
errors.add("GPS")
|
|
||||||
elif subSys == 8 and (eCode == 1):
|
|
||||||
errors.add("GCS")
|
|
||||||
elif subSys == 9 and (eCode == 1 or eCode == 2):
|
|
||||||
errors.add("FENCE")
|
|
||||||
elif subSys == 10:
|
|
||||||
errors.add("FLT_MODE")
|
|
||||||
elif subSys == 11 and (eCode == 2):
|
|
||||||
errors.add("GPS_GLITCH")
|
|
||||||
elif subSys == 12 and (eCode == 1):
|
|
||||||
errors.add("CRASH")
|
|
||||||
|
|
||||||
if errors:
|
|
||||||
if len(errors) == 1 and "FENCE" in errors:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
else:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
if len(errors) == 1:
|
|
||||||
self.result.statusMessage = "ERR found: "
|
|
||||||
else:
|
|
||||||
self.result.statusMessage = "ERRs found: "
|
|
||||||
for err in errors:
|
|
||||||
self.result.statusMessage = self.result.statusMessage + err + " "
|
|
||||||
|
|
@ -1,72 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestGPSGlitch(Test):
|
|
||||||
'''test for GPS glitch reporting or bad GPS data (satellite count, hdop)'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "GPS"
|
|
||||||
|
|
||||||
def findSatsChan(self, channels):
|
|
||||||
for chan in "NSats", "NSat", "numSV":
|
|
||||||
if chan in channels:
|
|
||||||
return channels[chan]
|
|
||||||
|
|
||||||
def findHDopChan(self, channels):
|
|
||||||
for chan in "HDop", "HDp", "EPH":
|
|
||||||
if chan in channels:
|
|
||||||
return channels[chan]
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if "GPS" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
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
|
|
||||||
maxHDopFAIL = 10.0
|
|
||||||
satsChan = self.findSatsChan(logdata.channels["GPS"])
|
|
||||||
hdopChan = self.findHDopChan(logdata.channels["GPS"])
|
|
||||||
foundBadSatsWarn = satsChan.min() < minSatsWARN
|
|
||||||
foundBadHDopWarn = hdopChan.max() > maxHDopWARN
|
|
||||||
foundBadSatsFail = satsChan.min() < minSatsFAIL
|
|
||||||
foundBadHDopFail = hdopChan.max() > maxHDopFAIL
|
|
||||||
satsMsg = "Min satellites: %s, Max HDop: %s" % (satsChan.min(), hdopChan.max())
|
|
||||||
if gpsGlitchCount:
|
|
||||||
self.result.statusMessage = "\n".join([self.result.statusMessage, satsMsg])
|
|
||||||
if foundBadSatsFail or foundBadHDopFail:
|
|
||||||
if not gpsGlitchCount:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = satsMsg
|
|
||||||
elif foundBadSatsWarn or foundBadHDopWarn:
|
|
||||||
if not gpsGlitchCount:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
self.result.statusMessage = satsMsg
|
|
||||||
|
|
@ -1,139 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
from math import sqrt
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestIMUMatch(Test):
|
|
||||||
'''test for empty or near-empty logs'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "IMU Mismatch"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
|
|
||||||
# tuning parameters:
|
|
||||||
warn_threshold = 0.75
|
|
||||||
fail_threshold = 1.5
|
|
||||||
filter_tc = 5.0
|
|
||||||
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if ("IMU" in logdata.channels) and ("IMU2" not in logdata.channels):
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
self.result.statusMessage = "No IMU2"
|
|
||||||
return
|
|
||||||
|
|
||||||
if ("IMU" not in logdata.channels) or ("IMU2" not in logdata.channels):
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No IMU log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
imu1 = logdata.channels["IMU"]
|
|
||||||
imu2 = logdata.channels["IMU2"]
|
|
||||||
|
|
||||||
timeLabel = None
|
|
||||||
for i in 'TimeMS', 'TimeUS', 'Time':
|
|
||||||
if i in logdata.channels["GPS"]:
|
|
||||||
timeLabel = i
|
|
||||||
break
|
|
||||||
imu1_timems = imu1[timeLabel].listData
|
|
||||||
imu1_accx = imu1["AccX"].listData
|
|
||||||
imu1_accy = imu1["AccY"].listData
|
|
||||||
imu1_accz = imu1["AccZ"].listData
|
|
||||||
|
|
||||||
imu2_timems = imu2[timeLabel].listData
|
|
||||||
imu2_accx = imu2["AccX"].listData
|
|
||||||
imu2_accy = imu2["AccY"].listData
|
|
||||||
imu2_accz = imu2["AccZ"].listData
|
|
||||||
|
|
||||||
imu_multiplier = 1.0e-3
|
|
||||||
if timeLabel == 'TimeUS':
|
|
||||||
imu_multiplier = 1.0e-6
|
|
||||||
|
|
||||||
imu1 = []
|
|
||||||
imu2 = []
|
|
||||||
|
|
||||||
for i in range(len(imu1_timems)):
|
|
||||||
imu1.append(
|
|
||||||
{
|
|
||||||
't': imu1_timems[i][1] * imu_multiplier,
|
|
||||||
'x': imu1_accx[i][1],
|
|
||||||
'y': imu1_accy[i][1],
|
|
||||||
'z': imu1_accz[i][1],
|
|
||||||
}
|
|
||||||
)
|
|
||||||
|
|
||||||
for i in range(len(imu2_timems)):
|
|
||||||
imu2.append(
|
|
||||||
{
|
|
||||||
't': imu2_timems[i][1] * imu_multiplier,
|
|
||||||
'x': imu2_accx[i][1],
|
|
||||||
'y': imu2_accy[i][1],
|
|
||||||
'z': imu2_accz[i][1],
|
|
||||||
}
|
|
||||||
)
|
|
||||||
|
|
||||||
imu1.sort(key=lambda x: x['t'])
|
|
||||||
imu2.sort(key=lambda x: x['t'])
|
|
||||||
|
|
||||||
imu2_index = 0
|
|
||||||
|
|
||||||
last_t = None
|
|
||||||
|
|
||||||
xdiff_filtered = 0
|
|
||||||
ydiff_filtered = 0
|
|
||||||
zdiff_filtered = 0
|
|
||||||
max_diff_filtered = 0
|
|
||||||
|
|
||||||
for i in range(len(imu1)):
|
|
||||||
# find closest imu2 value
|
|
||||||
t = imu1[i]['t']
|
|
||||||
dt = 0 if last_t is None else t - last_t
|
|
||||||
dt = min(dt, 0.1)
|
|
||||||
|
|
||||||
next_imu2 = None
|
|
||||||
for i in range(imu2_index, len(imu2)):
|
|
||||||
next_imu2 = imu2[i]
|
|
||||||
imu2_index = i
|
|
||||||
if next_imu2['t'] >= t:
|
|
||||||
break
|
|
||||||
prev_imu2 = imu2[imu2_index - 1]
|
|
||||||
closest_imu2 = next_imu2 if abs(next_imu2['t'] - t) < abs(prev_imu2['t'] - t) else prev_imu2
|
|
||||||
|
|
||||||
xdiff = imu1[i]['x'] - closest_imu2['x']
|
|
||||||
ydiff = imu1[i]['y'] - closest_imu2['y']
|
|
||||||
zdiff = imu1[i]['z'] - closest_imu2['z']
|
|
||||||
|
|
||||||
xdiff_filtered += (xdiff - xdiff_filtered) * dt / filter_tc
|
|
||||||
ydiff_filtered += (ydiff - ydiff_filtered) * dt / filter_tc
|
|
||||||
zdiff_filtered += (zdiff - zdiff_filtered) * dt / filter_tc
|
|
||||||
|
|
||||||
diff_filtered = sqrt(xdiff_filtered**2 + ydiff_filtered**2 + zdiff_filtered**2)
|
|
||||||
max_diff_filtered = max(max_diff_filtered, diff_filtered)
|
|
||||||
last_t = t
|
|
||||||
|
|
||||||
if max_diff_filtered > fail_threshold:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)"
|
|
||||||
% (max_diff_filtered, warn_threshold, fail_threshold)
|
|
||||||
)
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
elif max_diff_filtered > warn_threshold:
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)"
|
|
||||||
% (max_diff_filtered, warn_threshold, fail_threshold)
|
|
||||||
)
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
else:
|
|
||||||
self.result.statusMessage = "(Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (
|
|
||||||
max_diff_filtered,
|
|
||||||
warn_threshold,
|
|
||||||
fail_threshold,
|
|
||||||
)
|
|
||||||
|
|
@ -1,85 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestBalanceTwist(Test):
|
|
||||||
'''test for badly unbalanced copter, including yaw twist'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Motor Balance"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if logdata.vehicleType != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
if "RCOU" not in logdata.channels:
|
|
||||||
return
|
|
||||||
|
|
||||||
ch = []
|
|
||||||
|
|
||||||
for i in range(8):
|
|
||||||
for prefix in "Chan", "Ch", "C":
|
|
||||||
if prefix + repr((i + 1)) in logdata.channels["RCOU"]:
|
|
||||||
ch.append(map(lambda x: x[1], logdata.channels["RCOU"][prefix + repr((i + 1))].listData))
|
|
||||||
|
|
||||||
ch = zip(*ch)
|
|
||||||
num_channels = 0
|
|
||||||
ch = list(ch)
|
|
||||||
for i in range(len(ch)):
|
|
||||||
ch[i] = list(filter(lambda x: (x > 0 and x < 3000), ch[i]))
|
|
||||||
if num_channels < len(ch[i]):
|
|
||||||
num_channels = len(ch[i])
|
|
||||||
|
|
||||||
if logdata.frame:
|
|
||||||
num_channels = logdata.num_motor_channels()
|
|
||||||
|
|
||||||
if num_channels < 2:
|
|
||||||
return
|
|
||||||
|
|
||||||
try:
|
|
||||||
min_throttle = (
|
|
||||||
logdata.parameters["RC3_MIN"]
|
|
||||||
+ logdata.parameters["THR_MIN"]
|
|
||||||
/ (logdata.parameters["RC3_MAX"] - logdata.parameters["RC3_MIN"])
|
|
||||||
/ 1000.0
|
|
||||||
)
|
|
||||||
except KeyError:
|
|
||||||
min_throttle = (
|
|
||||||
logdata.parameters["MOT_PWM_MIN"]
|
|
||||||
/ (logdata.parameters["MOT_PWM_MAX"] - logdata.parameters["RC3_MIN"])
|
|
||||||
/ 1000.0
|
|
||||||
)
|
|
||||||
|
|
||||||
ch = list(filter(lambda x: sum(x) / num_channels > min_throttle, ch))
|
|
||||||
|
|
||||||
if len(ch) == 0:
|
|
||||||
return
|
|
||||||
|
|
||||||
avg_sum = 0
|
|
||||||
avg_ch = []
|
|
||||||
for i in range(num_channels):
|
|
||||||
avg = list(map(lambda x: x[i], ch))
|
|
||||||
avg = sum(avg) / len(avg)
|
|
||||||
avg_ch.append(avg)
|
|
||||||
avg_sum += avg
|
|
||||||
avg_all = avg_sum / num_channels
|
|
||||||
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"Motor channel averages = %s\nAverage motor output = %.0f\nDifference between min and max motor averages = %.0f"
|
|
||||||
% (str(avg_ch), avg_all, abs(min(avg_ch) - max(avg_ch)))
|
|
||||||
)
|
|
||||||
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if abs(min(avg_ch) - max(avg_ch)) > 75:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
if abs(min(avg_ch) - max(avg_ch)) > 150:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
|
|
@ -1,43 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
import math
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestNaN(Test):
|
|
||||||
'''test for NaNs present in log'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "NaNs"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
def FAIL():
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
|
|
||||||
nans_ok = {
|
|
||||||
"CTUN": ["DSAlt", "TAlt"],
|
|
||||||
"POS": ["RelOriginAlt"],
|
|
||||||
}
|
|
||||||
|
|
||||||
for channel in logdata.channels.keys():
|
|
||||||
for field in logdata.channels[channel].keys():
|
|
||||||
if channel in nans_ok and field in nans_ok[channel]:
|
|
||||||
continue
|
|
||||||
try:
|
|
||||||
for tupe in logdata.channels[channel][field].listData:
|
|
||||||
(ts, val) = tupe
|
|
||||||
if isinstance(val, float) and math.isnan(val):
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage += "Found NaN in %s.%s\n" % (
|
|
||||||
channel,
|
|
||||||
field,
|
|
||||||
)
|
|
||||||
raise ValueError()
|
|
||||||
except ValueError:
|
|
||||||
continue
|
|
||||||
|
|
@ -1,336 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from math import sqrt
|
|
||||||
|
|
||||||
import matplotlib.pyplot as plt
|
|
||||||
import numpy as np
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestFlow(Test):
|
|
||||||
'''test optical flow sensor scale factor calibration'''
|
|
||||||
|
|
||||||
#
|
|
||||||
# Use the following procedure to log the calibration data. is assumed that the optical flow sensor has been
|
|
||||||
# correctly aligned, is focussed and the test is performed over a textured surface with adequate lighting.
|
|
||||||
# Note that the strobing effect from non incandescent artifical lighting can produce poor optical flow measurements.
|
|
||||||
#
|
|
||||||
# 1) Set LOG_DISARMED and FLOW_TYPE to 10 and verify that ATT and OF messages are being logged onboard
|
|
||||||
# 2) Place on level ground, apply power and wait for EKF to complete attitude alignment
|
|
||||||
# 3) Keeping the copter level, lift it to shoulder height and rock between +-20 and +-30 degrees
|
|
||||||
# in roll about an axis that passes through the flow sensor lens assembly. The time taken to rotate from
|
|
||||||
# maximum left roll to maximum right roll should be about 1 second.
|
|
||||||
# 4) Repeat 3) about the pitch axis
|
|
||||||
# 5) Holding the copter level, lower it to the ground and remove power
|
|
||||||
# 6) Transfer the logfile from the sdcard.
|
|
||||||
# 7) Open a terminal and cd to the ardupilot/Tools/LogAnalyzer directory
|
|
||||||
# 8) Enter to run the analysis 'python LogAnalyzer.py <log file name including full path>'
|
|
||||||
# 9) Check the OpticalFlow test status printed to the screen. The analysis plots are saved to
|
|
||||||
# flow_calibration.pdf and the recommended scale factors to flow_calibration.param
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "OpticalFlow"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
def FAIL():
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
|
|
||||||
def WARN():
|
|
||||||
if self.result.status != TestResult.StatusType.FAIL:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
|
|
||||||
try:
|
|
||||||
# tuning parameters used by the algorithm
|
|
||||||
tilt_threshold = 15 # roll and pitch threshold used to start and stop calibration (deg)
|
|
||||||
quality_threshold = 124 # minimum flow quality required for data to be used by the curve fit (N/A)
|
|
||||||
min_rate_threshold = (
|
|
||||||
0.0 # if the gyro rate is less than this, the data will not be used by the curve fit (rad/sec)
|
|
||||||
)
|
|
||||||
max_rate_threshold = (
|
|
||||||
2.0 # if the gyro rate is greter than this, the data will not be used by the curve fit (rad/sec)
|
|
||||||
)
|
|
||||||
param_std_threshold = 5.0 # maximum allowable 1-std uncertainty in scaling parameter (scale factor * 1000)
|
|
||||||
# max/min allowable scale factor parameter. Values of FLOW_FXSCALER and FLOW_FYSCALER outside the range
|
|
||||||
# of +-param_abs_threshold indicate a sensor configuration problem.
|
|
||||||
param_abs_threshold = 200
|
|
||||||
# minimum number of points required for a curve fit - this is necessary, but not sufficient condition - the
|
|
||||||
# standard deviation estimate of the fit gradient is also important.
|
|
||||||
min_num_points = 100
|
|
||||||
|
|
||||||
# get the existing scale parameters
|
|
||||||
flow_fxscaler = logdata.parameters["FLOW_FXSCALER"]
|
|
||||||
flow_fyscaler = logdata.parameters["FLOW_FYSCALER"]
|
|
||||||
|
|
||||||
# load required optical flow data
|
|
||||||
if "OF" in logdata.channels:
|
|
||||||
flowX = np.zeros(len(logdata.channels["OF"]["flowX"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["flowX"].listData)):
|
|
||||||
(line, flowX[i]) = logdata.channels["OF"]["flowX"].listData[i]
|
|
||||||
|
|
||||||
bodyX = np.zeros(len(logdata.channels["OF"]["bodyX"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["bodyX"].listData)):
|
|
||||||
(line, bodyX[i]) = logdata.channels["OF"]["bodyX"].listData[i]
|
|
||||||
|
|
||||||
flowY = np.zeros(len(logdata.channels["OF"]["flowY"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["flowY"].listData)):
|
|
||||||
(line, flowY[i]) = logdata.channels["OF"]["flowY"].listData[i]
|
|
||||||
|
|
||||||
bodyY = np.zeros(len(logdata.channels["OF"]["bodyY"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["bodyY"].listData)):
|
|
||||||
(line, bodyY[i]) = logdata.channels["OF"]["bodyY"].listData[i]
|
|
||||||
|
|
||||||
flow_time_us = np.zeros(len(logdata.channels["OF"]["TimeUS"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["TimeUS"].listData)):
|
|
||||||
(line, flow_time_us[i]) = logdata.channels["OF"]["TimeUS"].listData[i]
|
|
||||||
|
|
||||||
flow_qual = np.zeros(len(logdata.channels["OF"]["Qual"].listData))
|
|
||||||
for i in range(len(logdata.channels["OF"]["Qual"].listData)):
|
|
||||||
(line, flow_qual[i]) = logdata.channels["OF"]["Qual"].listData[i]
|
|
||||||
|
|
||||||
else:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = "FAIL: no optical flow data\n"
|
|
||||||
return
|
|
||||||
|
|
||||||
# load required attitude data
|
|
||||||
if "ATT" in logdata.channels:
|
|
||||||
Roll = np.zeros(len(logdata.channels["ATT"]["Roll"].listData))
|
|
||||||
for i in range(len(logdata.channels["ATT"]["Roll"].listData)):
|
|
||||||
(line, Roll[i]) = logdata.channels["ATT"]["Roll"].listData[i]
|
|
||||||
|
|
||||||
Pitch = np.zeros(len(logdata.channels["ATT"]["Pitch"].listData))
|
|
||||||
for i in range(len(logdata.channels["ATT"]["Pitch"].listData)):
|
|
||||||
(line, Pitch[i]) = logdata.channels["ATT"]["Pitch"].listData[i]
|
|
||||||
|
|
||||||
att_time_us = np.zeros(len(logdata.channels["ATT"]["TimeUS"].listData))
|
|
||||||
for i in range(len(logdata.channels["ATT"]["TimeUS"].listData)):
|
|
||||||
(line, att_time_us[i]) = logdata.channels["ATT"]["TimeUS"].listData[i]
|
|
||||||
|
|
||||||
else:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = "FAIL: no attitude data\n"
|
|
||||||
return
|
|
||||||
|
|
||||||
# calculate the start time for the roll calibration
|
|
||||||
startTime = int(0)
|
|
||||||
startRollIndex = int(0)
|
|
||||||
for i in range(len(Roll)):
|
|
||||||
if abs(Roll[i]) > tilt_threshold:
|
|
||||||
startTime = att_time_us[i]
|
|
||||||
break
|
|
||||||
for i in range(len(flow_time_us)):
|
|
||||||
if flow_time_us[i] > startTime:
|
|
||||||
startRollIndex = i
|
|
||||||
break
|
|
||||||
|
|
||||||
# calculate the end time for the roll calibration
|
|
||||||
endTime = int(0)
|
|
||||||
endRollIndex = int(0)
|
|
||||||
for i in range(len(Roll) - 1, -1, -1):
|
|
||||||
if abs(Roll[i]) > tilt_threshold:
|
|
||||||
endTime = att_time_us[i]
|
|
||||||
break
|
|
||||||
for i in range(len(flow_time_us) - 1, -1, -1):
|
|
||||||
if flow_time_us[i] < endTime:
|
|
||||||
endRollIndex = i
|
|
||||||
break
|
|
||||||
|
|
||||||
# check we have enough roll data points
|
|
||||||
if endRollIndex - startRollIndex <= min_num_points:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = "FAIL: insufficient roll data pointsa\n"
|
|
||||||
return
|
|
||||||
|
|
||||||
# resample roll test data excluding data before first movement and after last movement
|
|
||||||
# also exclude data where there is insufficient angular rate
|
|
||||||
flowX_resampled = []
|
|
||||||
bodyX_resampled = []
|
|
||||||
flowX_time_us_resampled = []
|
|
||||||
for i in range(len(Roll)):
|
|
||||||
if (
|
|
||||||
(i >= startRollIndex)
|
|
||||||
and (i <= endRollIndex)
|
|
||||||
and (abs(bodyX[i]) > min_rate_threshold)
|
|
||||||
and (abs(bodyX[i]) < max_rate_threshold)
|
|
||||||
and (flow_qual[i] > quality_threshold)
|
|
||||||
):
|
|
||||||
flowX_resampled.append(flowX[i])
|
|
||||||
bodyX_resampled.append(bodyX[i])
|
|
||||||
flowX_time_us_resampled.append(flow_time_us[i])
|
|
||||||
|
|
||||||
# calculate the start time for the pitch calibration
|
|
||||||
startTime = 0
|
|
||||||
startPitchIndex = int(0)
|
|
||||||
for i in range(len(Pitch)):
|
|
||||||
if abs(Pitch[i]) > tilt_threshold:
|
|
||||||
startTime = att_time_us[i]
|
|
||||||
break
|
|
||||||
for i in range(len(flow_time_us)):
|
|
||||||
if flow_time_us[i] > startTime:
|
|
||||||
startPitchIndex = i
|
|
||||||
break
|
|
||||||
|
|
||||||
# calculate the end time for the pitch calibration
|
|
||||||
endTime = 0
|
|
||||||
endPitchIndex = int(0)
|
|
||||||
for i in range(len(Pitch) - 1, -1, -1):
|
|
||||||
if abs(Pitch[i]) > tilt_threshold:
|
|
||||||
endTime = att_time_us[i]
|
|
||||||
break
|
|
||||||
for i in range(len(flow_time_us) - 1, -1, -1):
|
|
||||||
if flow_time_us[i] < endTime:
|
|
||||||
endPitchIndex = i
|
|
||||||
break
|
|
||||||
|
|
||||||
# check we have enough pitch data points
|
|
||||||
if endPitchIndex - startPitchIndex <= min_num_points:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = "FAIL: insufficient pitch data pointsa\n"
|
|
||||||
return
|
|
||||||
|
|
||||||
# resample pitch test data excluding data before first movement and after last movement
|
|
||||||
# also exclude data where there is insufficient or too much angular rate
|
|
||||||
flowY_resampled = []
|
|
||||||
bodyY_resampled = []
|
|
||||||
flowY_time_us_resampled = []
|
|
||||||
for i in range(len(Roll)):
|
|
||||||
if (
|
|
||||||
(i >= startPitchIndex)
|
|
||||||
and (i <= endPitchIndex)
|
|
||||||
and (abs(bodyY[i]) > min_rate_threshold)
|
|
||||||
and (abs(bodyY[i]) < max_rate_threshold)
|
|
||||||
and (flow_qual[i] > quality_threshold)
|
|
||||||
):
|
|
||||||
flowY_resampled.append(flowY[i])
|
|
||||||
bodyY_resampled.append(bodyY[i])
|
|
||||||
flowY_time_us_resampled.append(flow_time_us[i])
|
|
||||||
|
|
||||||
# fit a straight line to the flow vs body rate data and calculate the scale factor parameter required to
|
|
||||||
# achieve a slope of 1
|
|
||||||
coef_flow_x, cov_x = np.polyfit(
|
|
||||||
bodyX_resampled, flowX_resampled, 1, rcond=None, full=False, w=None, cov=True
|
|
||||||
)
|
|
||||||
coef_flow_y, cov_y = np.polyfit(
|
|
||||||
bodyY_resampled, flowY_resampled, 1, rcond=None, full=False, w=None, cov=True
|
|
||||||
)
|
|
||||||
|
|
||||||
# taking the exisiting scale factor parameters into account, calculate the parameter values reequired to
|
|
||||||
# achieve a unity slope
|
|
||||||
flow_fxscaler_new = int(1000 * (((1 + 0.001 * float(flow_fxscaler)) / coef_flow_x[0] - 1)))
|
|
||||||
flow_fyscaler_new = int(1000 * (((1 + 0.001 * float(flow_fyscaler)) / coef_flow_y[0] - 1)))
|
|
||||||
|
|
||||||
# Do a sanity check on the scale factor variance
|
|
||||||
if sqrt(cov_x[0][0]) > param_std_threshold or sqrt(cov_y[0][0]) > param_std_threshold:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"FAIL: inaccurate fit - poor quality or insufficient data"
|
|
||||||
"\nFLOW_FXSCALER 1STD = %u"
|
|
||||||
"\nFLOW_FYSCALER 1STD = %u\n" % (round(1000 * sqrt(cov_x[0][0])), round(1000 * sqrt(cov_y[0][0])))
|
|
||||||
)
|
|
||||||
|
|
||||||
# Do a sanity check on the scale factors
|
|
||||||
if abs(flow_fxscaler_new) > param_abs_threshold or abs(flow_fyscaler_new) > param_abs_threshold:
|
|
||||||
FAIL()
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"FAIL: required scale factors are excessive\nFLOW_FXSCALER=%i\nFLOW_FYSCALER=%i\n"
|
|
||||||
% (flow_fxscaler, flow_fyscaler)
|
|
||||||
)
|
|
||||||
|
|
||||||
# display recommended scale factors
|
|
||||||
self.result.statusMessage = (
|
|
||||||
"Set FLOW_FXSCALER to %i"
|
|
||||||
"\nSet FLOW_FYSCALER to %i"
|
|
||||||
"\n\nCal plots saved to flow_calibration.pdf"
|
|
||||||
"\nCal parameters saved to flow_calibration.param"
|
|
||||||
"\n\nFLOW_FXSCALER 1STD = %u"
|
|
||||||
"\nFLOW_FYSCALER 1STD = %u\n"
|
|
||||||
% (
|
|
||||||
flow_fxscaler_new,
|
|
||||||
flow_fyscaler_new,
|
|
||||||
round(1000 * sqrt(cov_x[0][0])),
|
|
||||||
round(1000 * sqrt(cov_y[0][0])),
|
|
||||||
)
|
|
||||||
)
|
|
||||||
|
|
||||||
# calculate fit display data
|
|
||||||
body_rate_display = [-max_rate_threshold, max_rate_threshold]
|
|
||||||
fit_coef_x = np.poly1d(coef_flow_x)
|
|
||||||
flowX_display = fit_coef_x(body_rate_display)
|
|
||||||
fit_coef_y = np.poly1d(coef_flow_y)
|
|
||||||
flowY_display = fit_coef_y(body_rate_display)
|
|
||||||
|
|
||||||
# plot and save calibration test points to PDF
|
|
||||||
from matplotlib.backends.backend_pdf import PdfPages
|
|
||||||
|
|
||||||
output_plot_filename = "flow_calibration.pdf"
|
|
||||||
pp = PdfPages(output_plot_filename)
|
|
||||||
|
|
||||||
plt.figure(1, figsize=(20, 13))
|
|
||||||
plt.subplot(2, 1, 1)
|
|
||||||
plt.plot(bodyX_resampled, flowX_resampled, 'b', linestyle=' ', marker='o', label="test points")
|
|
||||||
plt.plot(body_rate_display, flowX_display, 'r', linewidth=2.5, label="linear fit")
|
|
||||||
plt.title('X axis flow rate vs gyro rate')
|
|
||||||
plt.ylabel('flow rate (rad/s)')
|
|
||||||
plt.xlabel('gyro rate (rad/sec)')
|
|
||||||
plt.grid()
|
|
||||||
plt.legend(loc='upper left')
|
|
||||||
|
|
||||||
# draw plots
|
|
||||||
plt.subplot(2, 1, 2)
|
|
||||||
plt.plot(bodyY_resampled, flowY_resampled, 'b', linestyle=' ', marker='o', label="test points")
|
|
||||||
plt.plot(body_rate_display, flowY_display, 'r', linewidth=2.5, label="linear fit")
|
|
||||||
plt.title('Y axis flow rate vs gyro rate')
|
|
||||||
plt.ylabel('flow rate (rad/s)')
|
|
||||||
plt.xlabel('gyro rate (rad/sec)')
|
|
||||||
plt.grid()
|
|
||||||
plt.legend(loc='upper left')
|
|
||||||
|
|
||||||
pp.savefig()
|
|
||||||
|
|
||||||
plt.figure(2, figsize=(20, 13))
|
|
||||||
plt.subplot(2, 1, 1)
|
|
||||||
plt.plot(flow_time_us, flowX, 'b', label="flow rate - all")
|
|
||||||
plt.plot(flow_time_us, bodyX, 'r', label="gyro rate - all")
|
|
||||||
plt.plot(flowX_time_us_resampled, flowX_resampled, 'c', linestyle=' ', marker='o', label="flow rate - used")
|
|
||||||
plt.plot(flowX_time_us_resampled, bodyX_resampled, 'm', linestyle=' ', marker='o', label="gyro rate - used")
|
|
||||||
plt.title('X axis flow and body rate vs time')
|
|
||||||
plt.ylabel('rate (rad/s)')
|
|
||||||
plt.xlabel('time (usec)')
|
|
||||||
plt.grid()
|
|
||||||
plt.legend(loc='upper left')
|
|
||||||
|
|
||||||
# draw plots
|
|
||||||
plt.subplot(2, 1, 2)
|
|
||||||
plt.plot(flow_time_us, flowY, 'b', label="flow rate - all")
|
|
||||||
plt.plot(flow_time_us, bodyY, 'r', label="gyro rate - all")
|
|
||||||
plt.plot(flowY_time_us_resampled, flowY_resampled, 'c', linestyle=' ', marker='o', label="flow rate - used")
|
|
||||||
plt.plot(flowY_time_us_resampled, bodyY_resampled, 'm', linestyle=' ', marker='o', label="gyro rate - used")
|
|
||||||
plt.title('Y axis flow and body rate vs time')
|
|
||||||
plt.ylabel('rate (rad/s)')
|
|
||||||
plt.xlabel('time (usec)')
|
|
||||||
plt.grid()
|
|
||||||
plt.legend(loc='upper left')
|
|
||||||
|
|
||||||
pp.savefig()
|
|
||||||
|
|
||||||
# close the pdf file
|
|
||||||
pp.close()
|
|
||||||
|
|
||||||
# close all figures
|
|
||||||
plt.close("all")
|
|
||||||
|
|
||||||
# write correction parameters to file
|
|
||||||
test_results_filename = "flow_calibration.param"
|
|
||||||
file = open(test_results_filename, "w")
|
|
||||||
file.write("FLOW_FXSCALER" + " " + str(flow_fxscaler_new) + "\n")
|
|
||||||
file.write("FLOW_FYSCALER" + " " + str(flow_fyscaler_new) + "\n")
|
|
||||||
file.close()
|
|
||||||
|
|
||||||
except KeyError as e:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = str(e) + ' not found'
|
|
||||||
|
|
@ -1,81 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
import math # for isnan()
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestParams(Test):
|
|
||||||
'''test for any obviously bad parameters in the config'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Parameters"
|
|
||||||
|
|
||||||
# helper functions
|
|
||||||
def __checkParamIsEqual(self, paramName, expectedValue, logdata):
|
|
||||||
value = logdata.parameters[paramName]
|
|
||||||
if value != expectedValue:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting %s\n" % (
|
|
||||||
paramName,
|
|
||||||
repr(value),
|
|
||||||
repr(expectedValue),
|
|
||||||
)
|
|
||||||
|
|
||||||
def __checkParamIsLessThan(self, paramName, maxValue, logdata):
|
|
||||||
value = logdata.parameters[paramName]
|
|
||||||
if value >= maxValue:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting less than %s\n" % (
|
|
||||||
paramName,
|
|
||||||
repr(value),
|
|
||||||
repr(maxValue),
|
|
||||||
)
|
|
||||||
|
|
||||||
def __checkParamIsMoreThan(self, paramName, minValue, logdata):
|
|
||||||
value = logdata.parameters[paramName]
|
|
||||||
if value <= minValue:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = self.result.statusMessage + "%s set to %s, expecting less than %s\n" % (
|
|
||||||
paramName,
|
|
||||||
repr(value),
|
|
||||||
repr(minValue),
|
|
||||||
)
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD # GOOD by default, tests below will override it if they fail
|
|
||||||
|
|
||||||
# check all params for NaN
|
|
||||||
for name, value in logdata.parameters.items():
|
|
||||||
if math.isnan(value):
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = self.result.statusMessage + name + " is NaN\n"
|
|
||||||
|
|
||||||
try:
|
|
||||||
# add parameter checks below using the helper functions, any failures will trigger a FAIL status and
|
|
||||||
# accumulate info in statusMessage.
|
|
||||||
# If more complex checking or correlations are required you can access parameter values directly using the
|
|
||||||
# logdata.parameters[paramName] dict
|
|
||||||
if logdata.vehicleType == VehicleType.Copter:
|
|
||||||
self.__checkParamIsEqual("MAG_ENABLE", 1, logdata)
|
|
||||||
if "THR_MIN" in logdata.parameters:
|
|
||||||
self.__checkParamIsLessThan("THR_MIN", 200, logdata)
|
|
||||||
self.__checkParamIsLessThan("THR_MID", 701, logdata)
|
|
||||||
self.__checkParamIsMoreThan("THR_MID", 299, logdata)
|
|
||||||
# TODO: add more parameter tests, these are just an example...
|
|
||||||
elif logdata.vehicleType == VehicleType.Plane:
|
|
||||||
# TODO: add parameter checks for plane...
|
|
||||||
pass
|
|
||||||
elif logdata.vehicleType == VehicleType.Rover:
|
|
||||||
# TODO: add parameter checks for rover...
|
|
||||||
pass
|
|
||||||
|
|
||||||
if self.result.status == TestResult.StatusType.FAIL:
|
|
||||||
self.result.statusMessage = "Bad parameters found:\n" + self.result.statusMessage
|
|
||||||
except KeyError as e:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = str(e) + ' not found'
|
|
||||||
|
|
@ -1,73 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestPerformance(Test):
|
|
||||||
'''check performance monitoring messages (PM) for issues with slow loops, etc'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "PM"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
# 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 != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
# NOTE: we'll ignore MaxT altogether for now, it seems there are quite regularly one or two high values in
|
|
||||||
# there, even ignoring the ones expected after arm/disarm events.
|
|
||||||
# gather info on arm/disarm lines, we will ignore the MaxT data from the first line found after each of these
|
|
||||||
# armingLines = []
|
|
||||||
# for line,ev in logdata.channels["EV"]["Id"].listData:
|
|
||||||
# if (ev == 10) or (ev == 11):
|
|
||||||
# armingLines.append(line)
|
|
||||||
# ignoreMaxTLines = []
|
|
||||||
# for maxT in logdata.channels["PM"]["MaxT"].listData:
|
|
||||||
# if not armingLines:
|
|
||||||
# break
|
|
||||||
# if maxT[0] > armingLines[0]:
|
|
||||||
# ignoreMaxTLines.append(maxT[0])
|
|
||||||
# armingLines.pop(0)
|
|
||||||
|
|
||||||
if "PM" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No PM log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
# check for slow loops, i.e. NLon greater than 6% of NLoop
|
|
||||||
maxPercentSlow = 0
|
|
||||||
maxPercentSlowLine = 0
|
|
||||||
slowLoopLineCount = 0
|
|
||||||
for i in range(len(logdata.channels["PM"]["NLon"].listData)):
|
|
||||||
(line, nLon) = logdata.channels["PM"]["NLon"].listData[i]
|
|
||||||
(line, nLoop) = logdata.channels["PM"]["NLoop"].listData[i]
|
|
||||||
(line, maxT) = logdata.channels["PM"]["MaxT"].listData[i]
|
|
||||||
percentSlow = (nLon / float(nLoop)) * 100
|
|
||||||
if percentSlow > 6.0:
|
|
||||||
slowLoopLineCount = slowLoopLineCount + 1
|
|
||||||
if percentSlow > maxPercentSlow:
|
|
||||||
maxPercentSlow = percentSlow
|
|
||||||
maxPercentSlowLine = line
|
|
||||||
if (maxPercentSlow > 10) or (slowLoopLineCount > 6):
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "%d slow loop lines found, max %.2f%% on line %d" % (
|
|
||||||
slowLoopLineCount,
|
|
||||||
maxPercentSlow,
|
|
||||||
maxPercentSlowLine,
|
|
||||||
)
|
|
||||||
elif maxPercentSlow > 6:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
self.result.statusMessage = "%d slow loop lines found, max %.2f%% on line %d" % (
|
|
||||||
slowLoopLineCount,
|
|
||||||
maxPercentSlow,
|
|
||||||
maxPercentSlowLine,
|
|
||||||
)
|
|
||||||
|
|
@ -1,163 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
import collections
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestPitchRollCoupling(Test):
|
|
||||||
'''test for divergence between input and output pitch/roll, i.e. mechanical failure or bad PID tuning'''
|
|
||||||
|
|
||||||
# TODO: currently we're only checking for roll/pitch outside of max lean angle, will come back later to analyze
|
|
||||||
# roll/pitch in versus out values
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Pitch/Roll"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if logdata.vehicleType != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
if "ATT" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No ATT log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
if "CTUN" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No CTUN log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
if "BarAlt" in logdata.channels['CTUN']:
|
|
||||||
self.ctun_baralt_att = 'BarAlt'
|
|
||||||
else:
|
|
||||||
self.ctun_baralt_att = 'BAlt'
|
|
||||||
|
|
||||||
# figure out where each mode begins and ends, so we can treat auto and manual modes differently and ignore
|
|
||||||
# acro/tune modes
|
|
||||||
autoModes = [
|
|
||||||
"RTL",
|
|
||||||
"AUTO",
|
|
||||||
"LAND",
|
|
||||||
"LOITER",
|
|
||||||
"GUIDED",
|
|
||||||
"CIRCLE",
|
|
||||||
"OF_LOITER",
|
|
||||||
"POSHOLD",
|
|
||||||
"BRAKE",
|
|
||||||
"AVOID_ADSB",
|
|
||||||
"GUIDED_NOGPS",
|
|
||||||
"SMARTRTL",
|
|
||||||
]
|
|
||||||
# use CTUN RollIn/DesRoll + PitchIn/DesPitch
|
|
||||||
manualModes = ["STABILIZE", "DRIFT", "ALTHOLD", "ALT_HOLD", "POSHOLD"]
|
|
||||||
# ignore data from these modes:
|
|
||||||
ignoreModes = [
|
|
||||||
"ACRO",
|
|
||||||
"SPORT",
|
|
||||||
"FLIP",
|
|
||||||
"AUTOTUNE",
|
|
||||||
"",
|
|
||||||
"THROW",
|
|
||||||
]
|
|
||||||
autoSegments = [] # list of (startLine,endLine) pairs
|
|
||||||
manualSegments = [] # list of (startLine,endLine) pairs
|
|
||||||
orderedModes = collections.OrderedDict(sorted(logdata.modeChanges.items(), key=lambda t: t[0]))
|
|
||||||
isAuto = False # we always start in a manual control mode
|
|
||||||
prevLine = 0
|
|
||||||
mode = ""
|
|
||||||
for line, modepair in orderedModes.items():
|
|
||||||
mode = modepair[0].upper()
|
|
||||||
if prevLine == 0:
|
|
||||||
prevLine = line
|
|
||||||
if mode in autoModes:
|
|
||||||
if not isAuto:
|
|
||||||
manualSegments.append((prevLine, line - 1))
|
|
||||||
prevLine = line
|
|
||||||
isAuto = True
|
|
||||||
elif mode in manualModes:
|
|
||||||
if isAuto:
|
|
||||||
autoSegments.append((prevLine, line - 1))
|
|
||||||
prevLine = line
|
|
||||||
isAuto = False
|
|
||||||
elif mode in ignoreModes:
|
|
||||||
if isAuto:
|
|
||||||
autoSegments.append((prevLine, line - 1))
|
|
||||||
else:
|
|
||||||
manualSegments.append((prevLine, line - 1))
|
|
||||||
prevLine = 0
|
|
||||||
else:
|
|
||||||
raise Exception("Unknown mode in TestPitchRollCoupling: %s" % mode)
|
|
||||||
# and handle the last segment, which doesn't have an ending
|
|
||||||
if mode in autoModes:
|
|
||||||
autoSegments.append((prevLine, logdata.lineCount))
|
|
||||||
elif mode in manualModes:
|
|
||||||
manualSegments.append((prevLine, logdata.lineCount))
|
|
||||||
|
|
||||||
# figure out max lean angle, the ANGLE_MAX param was added in AC3.1
|
|
||||||
maxLeanAngle = 45.0
|
|
||||||
if "ANGLE_MAX" in logdata.parameters:
|
|
||||||
maxLeanAngle = logdata.parameters["ANGLE_MAX"] / 100.0
|
|
||||||
maxLeanAngleBuffer = 10 # allow a buffer margin
|
|
||||||
|
|
||||||
# ignore anything below this altitude, to discard any data while not flying
|
|
||||||
minAltThreshold = 2.0
|
|
||||||
|
|
||||||
# look through manual+auto flight segments
|
|
||||||
# TODO: filter to ignore single points outside range?
|
|
||||||
(maxRoll, maxRollLine) = (0.0, 0)
|
|
||||||
(maxPitch, maxPitchLine) = (0.0, 0)
|
|
||||||
for (startLine, endLine) in manualSegments + autoSegments:
|
|
||||||
# quick up-front test, only fallover into more complex line-by-line check if max()>threshold
|
|
||||||
rollSeg = logdata.channels["ATT"]["Roll"].getSegment(startLine, endLine)
|
|
||||||
pitchSeg = logdata.channels["ATT"]["Pitch"].getSegment(startLine, endLine)
|
|
||||||
if not rollSeg.dictData and not pitchSeg.dictData:
|
|
||||||
continue
|
|
||||||
# check max roll+pitch for any time where relative altitude is above minAltThreshold
|
|
||||||
roll = max(abs(rollSeg.min()), abs(rollSeg.max()))
|
|
||||||
pitch = max(abs(pitchSeg.min()), abs(pitchSeg.max()))
|
|
||||||
if (roll > (maxLeanAngle + maxLeanAngleBuffer) and abs(roll) > abs(maxRoll)) or (
|
|
||||||
pitch > (maxLeanAngle + maxLeanAngleBuffer) and abs(pitch) > abs(maxPitch)
|
|
||||||
):
|
|
||||||
lit = DataflashLog.LogIterator(logdata, startLine)
|
|
||||||
assert lit.currentLine == startLine
|
|
||||||
while lit.currentLine <= endLine:
|
|
||||||
relativeAlt = lit["CTUN"][self.ctun_baralt_att]
|
|
||||||
if relativeAlt > minAltThreshold:
|
|
||||||
roll = lit["ATT"]["Roll"]
|
|
||||||
pitch = lit["ATT"]["Pitch"]
|
|
||||||
if abs(roll) > (maxLeanAngle + maxLeanAngleBuffer) and abs(roll) > abs(maxRoll):
|
|
||||||
maxRoll = roll
|
|
||||||
maxRollLine = lit.currentLine
|
|
||||||
if abs(pitch) > (maxLeanAngle + maxLeanAngleBuffer) and abs(pitch) > abs(maxPitch):
|
|
||||||
maxPitch = pitch
|
|
||||||
maxPitchLine = lit.currentLine
|
|
||||||
next(lit)
|
|
||||||
# check for breaking max lean angles
|
|
||||||
if maxRoll and abs(maxRoll) > abs(maxPitch):
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Roll (%.2f, line %d) > maximum lean angle (%.2f)" % (
|
|
||||||
maxRoll,
|
|
||||||
maxRollLine,
|
|
||||||
maxLeanAngle,
|
|
||||||
)
|
|
||||||
return
|
|
||||||
if maxPitch:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Pitch (%.2f, line %d) > maximum lean angle (%.2f)" % (
|
|
||||||
maxPitch,
|
|
||||||
maxPitchLine,
|
|
||||||
maxLeanAngle,
|
|
||||||
)
|
|
||||||
return
|
|
||||||
|
|
||||||
# TODO: use numpy/scipy to check Roll+RollIn curves for fitness (ignore where we're not airborne)
|
|
||||||
# ...
|
|
||||||
|
|
@ -1,90 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestThrust(Test):
|
|
||||||
'''test for sufficient thrust (copter only for now)'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Thrust"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if logdata.vehicleType != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
if "CTUN" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No CTUN log data"
|
|
||||||
return
|
|
||||||
if "ATT" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No ATT log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
throut_key = None
|
|
||||||
for key in "ThO", "ThrOut":
|
|
||||||
if key in logdata.channels["CTUN"]:
|
|
||||||
throut_key = key
|
|
||||||
break
|
|
||||||
if throut_key is None:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "Could not find throttle out column"
|
|
||||||
return
|
|
||||||
|
|
||||||
# check for throttle (CTUN.ThrOut) above 700 for a chunk of time with copter not rising
|
|
||||||
|
|
||||||
highThrottleThreshold = 700
|
|
||||||
tiltThreshold = 20 # ignore high throttle when roll or tilt is above this value
|
|
||||||
climbThresholdWARN = 100
|
|
||||||
climbThresholdFAIL = 50
|
|
||||||
minSampleLength = 50
|
|
||||||
|
|
||||||
highThrottleSegments = []
|
|
||||||
|
|
||||||
# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if
|
|
||||||
# tilt > tiltThreshold, and discard any segments shorter than minSampleLength
|
|
||||||
start = None
|
|
||||||
data = logdata.channels["CTUN"][throut_key].listData
|
|
||||||
for i in range(0, len(data)):
|
|
||||||
(lineNumber, value) = data[i]
|
|
||||||
isBelowTiltThreshold = True
|
|
||||||
if value > highThrottleThreshold:
|
|
||||||
(roll, meh) = logdata.channels["ATT"]["Roll"].getNearestValue(lineNumber)
|
|
||||||
(pitch, meh) = logdata.channels["ATT"]["Pitch"].getNearestValue(lineNumber)
|
|
||||||
if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
|
|
||||||
isBelowTiltThreshold = False
|
|
||||||
if (value > highThrottleThreshold) and isBelowTiltThreshold:
|
|
||||||
if start is None:
|
|
||||||
start = i
|
|
||||||
elif start is not None:
|
|
||||||
if (i - start) > minSampleLength:
|
|
||||||
highThrottleSegments.append((start, i))
|
|
||||||
start = None
|
|
||||||
|
|
||||||
climbRate = "CRate"
|
|
||||||
if "CRate" not in logdata.channels["CTUN"]:
|
|
||||||
climbRate = "CRt"
|
|
||||||
|
|
||||||
# loop through each checking climbRate, if < 50 FAIL, if < 100 WARN
|
|
||||||
# TODO: we should filter climbRate and use its slope rather than value for this test
|
|
||||||
for seg in highThrottleSegments:
|
|
||||||
(startLine, endLine) = (data[seg[0]][0], data[seg[1]][0])
|
|
||||||
avgClimbRate = logdata.channels["CTUN"][climbRate].getSegment(startLine, endLine).avg()
|
|
||||||
avgThrOut = logdata.channels["CTUN"][throut_key].getSegment(startLine, endLine).avg()
|
|
||||||
if avgClimbRate < climbThresholdFAIL:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate, avgThrOut)
|
|
||||||
return
|
|
||||||
if avgClimbRate < climbThresholdWARN:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate, avgThrOut)
|
|
||||||
|
|
@ -1,43 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
|
|
||||||
|
|
||||||
class TestVCC(Test):
|
|
||||||
'''test for VCC within recommendations, or abrupt end to log in flight'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "VCC"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
|
|
||||||
if "CURR" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No CURR log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
# just a naive min/max test for now
|
|
||||||
try:
|
|
||||||
vccMin = logdata.channels["CURR"]["Vcc"].min()
|
|
||||||
vccMax = logdata.channels["CURR"]["Vcc"].max()
|
|
||||||
except KeyError:
|
|
||||||
vccMin = logdata.channels["POWR"]["Vcc"].min()
|
|
||||||
vccMax = logdata.channels["POWR"]["Vcc"].max()
|
|
||||||
vccMin *= 1000
|
|
||||||
vccMax *= 1000
|
|
||||||
|
|
||||||
vccDiff = vccMax - vccMin
|
|
||||||
vccMinThreshold = 4.6 * 1000
|
|
||||||
vccMaxDiff = 0.3 * 1000
|
|
||||||
if vccDiff > vccMaxDiff:
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
self.result.statusMessage = "VCC min/max diff %sv, should be <%sv" % (vccDiff / 1000.0, vccMaxDiff / 1000.0)
|
|
||||||
elif vccMin < vccMinThreshold:
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "VCC below minimum of %sv (%sv)" % (
|
|
||||||
repr(vccMinThreshold / 1000.0),
|
|
||||||
repr(vccMin / 1000.0),
|
|
||||||
)
|
|
||||||
|
|
@ -1,76 +0,0 @@
|
||||||
# AP_FLAKE8_CLEAN
|
|
||||||
|
|
||||||
|
|
||||||
from __future__ import print_function
|
|
||||||
|
|
||||||
import DataflashLog
|
|
||||||
import numpy
|
|
||||||
from LogAnalyzer import Test, TestResult
|
|
||||||
from VehicleType import VehicleType
|
|
||||||
|
|
||||||
|
|
||||||
class TestVibration(Test):
|
|
||||||
'''test for accelerometer vibration (accX/accY/accZ) within recommendations'''
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
Test.__init__(self)
|
|
||||||
self.name = "Vibration"
|
|
||||||
|
|
||||||
def run(self, logdata, verbose):
|
|
||||||
self.result = TestResult()
|
|
||||||
|
|
||||||
if logdata.vehicleType != VehicleType.Copter:
|
|
||||||
self.result.status = TestResult.StatusType.NA
|
|
||||||
return
|
|
||||||
|
|
||||||
# constants
|
|
||||||
aimRangeWarnXY = 1.5
|
|
||||||
aimRangeFailXY = 3.0
|
|
||||||
aimRangeWarnZ = 2.0 # gravity +/- aim range
|
|
||||||
aimRangeFailZ = 5.0 # gravity +/- aim range
|
|
||||||
|
|
||||||
if "IMU" not in logdata.channels:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No IMU log data"
|
|
||||||
return
|
|
||||||
|
|
||||||
# find some stable LOITER data to analyze, at least 10 seconds
|
|
||||||
chunks = DataflashLog.DataflashLogHelper.findLoiterChunks(logdata, minLengthSeconds=10, noRCInputs=True)
|
|
||||||
if not chunks:
|
|
||||||
self.result.status = TestResult.StatusType.UNKNOWN
|
|
||||||
self.result.statusMessage = "No stable LOITER log data found"
|
|
||||||
return
|
|
||||||
|
|
||||||
# for now we'll just use the first (largest) chunk of LOITER data
|
|
||||||
# TODO: ignore the first couple of secs to avoid bad data during transition - or can we check more analytically
|
|
||||||
# that we're stable?
|
|
||||||
# TODO: accumulate all LOITER chunks over min size, or just use the largest one?
|
|
||||||
startLine = chunks[0][0]
|
|
||||||
endLine = chunks[0][1]
|
|
||||||
|
|
||||||
def getStdDevIMU(logdata, channelName, startLine, endLine):
|
|
||||||
loiterData = logdata.channels["IMU"][channelName].getSegment(startLine, endLine)
|
|
||||||
numpyData = numpy.array(loiterData.dictData.values())
|
|
||||||
return numpy.std(numpyData)
|
|
||||||
|
|
||||||
# use 2x standard deviations as the metric, so if 95% of samples lie within the aim range we're good
|
|
||||||
stdDevX = abs(2 * getStdDevIMU(logdata, "AccX", startLine, endLine))
|
|
||||||
stdDevY = abs(2 * getStdDevIMU(logdata, "AccY", startLine, endLine))
|
|
||||||
stdDevZ = abs(2 * getStdDevIMU(logdata, "AccZ", startLine, endLine))
|
|
||||||
if (stdDevX > aimRangeFailXY) or (stdDevY > aimRangeFailXY) or (stdDevZ > aimRangeFailZ):
|
|
||||||
self.result.status = TestResult.StatusType.FAIL
|
|
||||||
self.result.statusMessage = "Vibration too high (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (stdDevX, stdDevY, stdDevZ)
|
|
||||||
elif (stdDevX > aimRangeWarnXY) or (stdDevY > aimRangeWarnXY) or (stdDevZ > aimRangeWarnZ):
|
|
||||||
self.result.status = TestResult.StatusType.WARN
|
|
||||||
self.result.statusMessage = "Vibration slightly high (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (
|
|
||||||
stdDevX,
|
|
||||||
stdDevY,
|
|
||||||
stdDevZ,
|
|
||||||
)
|
|
||||||
else:
|
|
||||||
self.result.status = TestResult.StatusType.GOOD
|
|
||||||
self.result.statusMessage = "Good vibration values (X:%.2fg, Y:%.2fg, Z:%.2fg)" % (
|
|
||||||
stdDevX,
|
|
||||||
stdDevY,
|
|
||||||
stdDevZ,
|
|
||||||
)
|
|
||||||
Loading…
Reference in New Issue