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Replay: added --accuracy option 

useful for finding what has diverged
This commit is contained in:
Andrew Tridgell 2021-07-15 08:17:48 +10:00 committed by Peter Barker
parent ca477d09ed
commit d181adfa75
1 changed files with 8 additions and 1 deletions
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9
Tools/Replay/check_replay.py
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@ -58,7 +58,13 @@ def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose
continue
v1 = getattr(m,f)
v2 = getattr(mb,f)
if v1 != v2:
ok = v1 == v2
if not ok and args.accuracy > 0:
avg = (v1+v2)*0.5
margin = args.accuracy*0.01*avg
if abs(v1-v2) <= abs(margin):
ok = True
if not ok:
mismatch = True
errors += 1
progress("Mismatch in field %s.%s: %s %s" % (mtype, f, str(v1), str(v2)))
@ -82,6 +88,7 @@ if __name__ == '__main__':
parser.add_argument("--ekf2-only", action='store_true', help="only check EKF2")
parser.add_argument("--ekf3-only", action='store_true', help="only check EKF3")
parser.add_argument("--verbose", action='store_true', help="verbose output")
parser.add_argument("--accuracy", type=float, default=0.0, help="accuracy percentage for match")
parser.add_argument("logs", metavar="LOG", nargs="+")
args = parser.parse_args()