mirror of https://github.com/ArduPilot/ardupilot
LogAnalyzer: fixed plane+rover parsing, added test for underpowered copters
This commit is contained in:
Andrew Chapman
Andrew Tridgell
parent
301a3bcdaf
commit
c4828e1d3d
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@ -10,6 +10,8 @@
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import pprint # temp
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import collections
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import os
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import numpy
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class Format:
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'''Channel format as specified by the FMT lines in the log file'''
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@ -30,6 +32,7 @@ class Format:
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class Channel:
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'''storage for a single stream of data, i.e. all GPS.RelAlt values'''
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# TODO: store data as a curve so we can more easily interpolate and sample the slope
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dictData = None # dict of linenum->value # store dupe data in dict and list for now, until we decide which is the better way to go
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listData = None # list of (linenum,value)
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def __init__(self):
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@ -45,11 +48,11 @@ class Channel:
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def max(self):
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return max(self.dictData.values())
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def avg(self):
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return avg(self.dictData.values())
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return numpy.mean(self.dictData.values())
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def getNearestValue(self, lineNumber, lookForwards=True):
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'''return the nearest data value to the given lineNumber'''
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'''find the nearest data value to the given lineNumber, defaults to looking forwards. Returns (value,lineNumber)'''
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if lineNumber in self.dictData:
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return self.dictData[lineNumber]
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return (self.dictData[lineNumber], lineNumber)
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offset = 1
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if not lookForwards:
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offset = -1
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@ -59,9 +62,16 @@ class Channel:
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line = min(maxLine,line)
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while line >= minLine and line <= maxLine:
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if line in self.dictData:
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return self.dictData[line]
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return (self.dictData[line], line)
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line = line + offset
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raise Exception("Error finding nearest value for line %d" % lineNumber)
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def getInterpolatedValue(self, lineNumber):
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(prevValue,prevValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
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(nextValue,nextValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
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if prevValueLine == nextValueLine:
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return prevValue
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weight = (lineNumber-prevValueLine) / float(nextValueLine-prevValueLine)
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return ((weight*prevValue) + ((1-weight)*nextValue))
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class DataflashLogHelper:
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@ -116,7 +126,9 @@ class DataflashLogHelper:
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def isLogEmpty(logdata):
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'''returns an human readable error string if the log is essentially empty, otherwise returns None'''
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# naive check for now, see if the throttle output was ever above 20%
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throttleThreshold = 200
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throttleThreshold = 20
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if logdata.vehicleType == "ArduCopter":
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throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
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if "CTUN" in logdata.channels:
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maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
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if maxThrottle < throttleThreshold:
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@ -126,6 +138,8 @@ class DataflashLogHelper:
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class DataflashLog:
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'''APM Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions to DataflashLogHelper class'''
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# TODO: implement some kind of iterator or different data storage approeach where we can step through the log by time/line and easily access, interpolate and cross-reference values from all channels at that point
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filename = None
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vehicleType = "" # ArduCopter, ArduPlane, ArduRover, etc, verbatim as given by header
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@ -196,6 +210,8 @@ class DataflashLog:
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if copterLogPre3Header and line[0:15] == "SYSID_SW_MREV: ":
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copterLogPre3Header = False
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copterLogPre3Params = True
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if line == " Ready to drive." or line == " Ready to FLY.":
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continue
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if len(tokens) == 1:
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tokens2 = line.split(' ')
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if line == "":
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@ -210,7 +226,7 @@ class DataflashLog:
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copterLogPre3Header = True
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elif copterLogPre3Header:
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pass # just skip over all that until we hit the PARM lines
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elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0] == "V": # e.g. ArduCopter V3.1 (5c6503e2)
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elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0].lower() == "v": # e.g. ArduCopter V3.1 (5c6503e2)
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self.vehicleType = tokens2[0]
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self.firmwareVersion = tokens2[1]
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if len(tokens2) == 3:
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@ -241,7 +257,12 @@ class DataflashLog:
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elif tokens[0] == "MSG":
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self.messages[lineNumber] = tokens[1]
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elif tokens[0] == "MODE":
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if self.vehicleType == "ArduCopter":
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self.modeChanges[lineNumber] = (tokens[1],int(tokens[2]))
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elif self.vehicleType == "ArduPlane" or self.vehicleType == "ArduRover":
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self.modeChanges[lineNumber] = (tokens[2],int(tokens[3]))
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else:
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raise Exception("Unknown log type for MODE line")
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# anything else must be the log data
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elif not copterLogPre3Header:
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groupName = tokens[0]
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@ -11,6 +11,8 @@
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# - Pixhawk doesn't output one of the FMT labels... forget which one
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# - MAG offsets seem to be constant (only seen data on Pixhawk)
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# - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84)
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# - 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
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# - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
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# TODO - unify result statusMessage and extraOutput. simple tests set statusMessage, complex ones append to it with newlines
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@ -1,3 +1,5 @@
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ArduCopter V3.1
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FMT, 128, 89, FMT, BBnNZ, Type,Length,Name,Format
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FMT, 129, 23, PARM, Nf, Name,Value
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FMT, 130, 45, GPS, BIHBcLLeeEefI, Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T
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@ -13,6 +13,7 @@ class TestBrownout(Test):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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if "EV" in logdata.channels:
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# step through the arm/disarm events in order, to see if they're symmetrical
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# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm, not takeoff+land
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evData = logdata.channels["EV"]["Id"]
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@ -24,9 +25,14 @@ class TestBrownout(Test):
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elif ev == 11:
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isArmed = False
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if "CTUN" not in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No CTUN log data"
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return
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# check for relative altitude at end
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if "CTUN" in logdata.channels and "BarAlt" in logdata.channels["CTUN"]:
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finalAlt = logdata.channels["CTUN"]["BarAlt"].getNearestValue(logdata.lineCount, lookForwards=False)
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(finalAlt,finalAltLine) = logdata.channels["CTUN"]["BarAlt"].getNearestValue(logdata.lineCount, lookForwards=False)
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finalAltMax = 3.0 # max alt offset that we'll still consider to be on the ground
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if isArmed and finalAlt > finalAltMax:
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@ -13,7 +13,7 @@ class TestGPSGlitch(Test):
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self.result.status = TestResult.StatusType.PASS
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if "GPS" not in logdata.channels:
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self.result.status = TestResult.StatusType.FAIL
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No GPS log data"
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return
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@ -6,12 +6,16 @@ class TestPerformance(Test):
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'''check performance monitoring messages (PM) for issues with slow loops, etc'''
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def __init__(self):
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self.name = "Performance"
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self.name = "PM"
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def run(self, logdata):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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if logdata.vehicleType != "ArduCopter":
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self.result.status = TestResult.StatusType.NA
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return
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# 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
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# gather info on arm/disarm lines, we will ignore the MaxT data from the first line found after each of these
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@ -12,7 +12,62 @@ class TestUnderpowered(Test):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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if logdata.vehicleType == "ArduPlane":
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if logdata.vehicleType != "ArduCopter":
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self.result.status = TestResult.StatusType.NA
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# TODO: implement test for underpowered copter (use log Randy provided)
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if not "CTUN" in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No CTUN log data"
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return
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if not "ATT" in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No ATT log data"
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return
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# check for throttle (CTUN.ThrOut) above 700 for a chunk of time with copter not rising
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highThrottleThreshold = 700
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tiltThreshold = 20 # ignore high throttle when roll or tilt is above this value
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climbThresholdWARN = 100
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climbThresholdFAIL = 50
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minSampleLength = 50
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highThrottleSegments = []
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# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if tilt > tiltThreshold, and discard any segments shorter than minSampleLength
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start = None
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data = logdata.channels["CTUN"]["ThrOut"].listData
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for i in range(0,len(data)):
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(lineNumber,value) = data[i]
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isBelowTiltThreshold = True
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if value > highThrottleThreshold:
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(roll,meh) = logdata.channels["ATT"]["Roll"].getNearestValue(lineNumber)
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(pitch,meh) = logdata.channels["ATT"]["Pitch"].getNearestValue(lineNumber)
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if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
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isBelowTiltThreshold = False
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if (value > highThrottleThreshold) and isBelowTiltThreshold:
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if start == None:
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start = i
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elif start != None:
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if (i-start) > minSampleLength:
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#print "Found high throttle chunk from line %d to %d (%d samples)" % (data[start][0],data[i][0],i-start+1)
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highThrottleSegments.append((start,i))
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start = None
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# loop through each checking CTUN.CRate, if < 50 FAIL, if < 100 WARN
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# TODO: we should filter CRate and use its slope rather than value for this test
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for seg in highThrottleSegments:
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(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
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avgClimbRate = logdata.channels["CTUN"]["CRate"].getSegment(startLine,endLine).avg()
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avgThrOut = logdata.channels["CTUN"]["ThrOut"].getSegment(startLine,endLine).avg()
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#print " Average CRate for this chunk is %.2f" % avgClimbRate
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if avgClimbRate < climbThresholdFAIL:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
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return
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if avgClimbRate < climbThresholdWARN:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
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@ -21,7 +21,6 @@ class TestVibration(Test):
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aimRangeWarnZ = 2.0 # gravity +/- aim range
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aimRangeFailZ = 5.0 # gravity +/- aim range
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# TODO: in Pixhawk should we use IMU or IMU2?
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if not "IMU" in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No IMU log data"
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