mirror of https://github.com/ArduPilot/ardupilot
Tools/LogAnalyzer: pass flake8
`TestDualGyroDrift.py` ignored because it is mostly commented out code
This commit is contained in:
Luiz Georg
Peter Barker
parent
da0c365f3d
commit
d76f3d71ae
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@ -4,6 +4,8 @@
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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
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import bisect
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@ -31,8 +33,11 @@ class Format(object):
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@staticmethod
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def trycastToFormatType(value, valueType):
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'''using format characters from libraries/DataFlash/DataFlash.h to cast strings to basic python int/float/string types
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tries a cast, if it does not work, well, acceptable as the text logs do not match the format, e.g. MODE is expected to be int'''
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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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@ -78,7 +83,6 @@ class Format(object):
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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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# print(list(zip(a.labels, x)))
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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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@ -90,7 +94,6 @@ class Format(object):
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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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# print(members)
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return cls
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@ -213,8 +216,6 @@ class BinaryFormat(ctypes.LittleEndianStructure):
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if ctypes.sizeof(cls) != cls.SIZE:
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print("size mismatch for {} expected {} got {}".format(cls, ctypes.sizeof(cls), cls.SIZE), file=sys.stderr)
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# for i in cls.labels:
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# print("{} = {}".format(i,getattr(cls,'_'+i)))
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return None
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return cls
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@ -230,12 +231,9 @@ class Channel(object):
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# TODO: store data as a scipy spline curve so we can more easily interpolate and sample the slope?
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def __init__(self):
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self.dictData = (
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{}
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) # 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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self.listData = (
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[]
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) # list 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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# store dupe data in dict and list for now, until we decide which is the better way to go
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self.dictData = {} # dict of linenum->value
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self.listData = [] # list of (linenum,value)
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def getSegment(self, startLine, endLine):
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'''returns a segment of this data (from startLine to endLine, inclusive) as a new Channel instance'''
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@ -257,7 +255,6 @@ class Channel(object):
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index = bisect.bisect_left(self.listData, (lineNumber, -99999))
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while index < len(self.listData):
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line = self.listData[index][0]
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# print("Looking forwards for nearest value to line number %d, starting at line %d" % (lineNumber,line)) # TEMP
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if line >= lineNumber:
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return (self.listData[index][1], line)
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index += 1
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@ -268,14 +265,16 @@ class Channel(object):
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index = bisect.bisect_left(self.listData, (lineNumber, -99999)) - 1
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while index >= 0:
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line = self.listData[index][0]
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# print("Looking backwards for nearest value to line number %d, starting at line %d" % (lineNumber,line)) # TEMP
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if line <= lineNumber:
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return (self.listData[index][1], line)
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index -= 1
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raise ValueError("Error finding nearest value for line %d" % lineNumber)
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def getNearestValue(self, lineNumber, lookForwards=True):
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'''find the nearest data value to the given lineNumber, defaults to first looking forwards. Returns (value,lineNumber)'''
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"""
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Find the nearest data value to the given lineNumber, defaults to first looking forwards.
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Returns (value,lineNumber)
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"""
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if lookForwards:
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try:
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return self.getNearestValueFwd(lineNumber)
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@ -299,8 +298,6 @@ class Channel(object):
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def getIndexOf(self, lineNumber):
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'''returns the index within this channel's listData of the given lineNumber, or raises an Exception if not found'''
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index = bisect.bisect_left(self.listData, (lineNumber, -99999))
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# print("INDEX of line %d: %d" % (lineNumber,index))
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# print("self.listData[index][0]: %d" % self.listData[index][0])
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if self.listData[index][0] == lineNumber:
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return index
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else:
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@ -308,9 +305,13 @@ class Channel(object):
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class LogIterator:
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'''Smart iterator that can move through a log by line number and maintain an index into the nearest values of all data channels'''
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"""
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Smart iterator that can move through a log by line number and maintain an index into the nearest values of all data
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channels
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"""
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# TODO: LogIterator currently indexes the next available value rather than the nearest value, we should make it configurable between next/nearest
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# TODO: LogIterator currently indexes the next available value rather than the nearest value, we should make it
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# configurable between next/nearest
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class LogIteratorSubValue:
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'''syntactic sugar to allow access by LogIterator[lineLabel][dataLabel]'''
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@ -355,7 +356,7 @@ class LogIterator:
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# check if the currentLine has gone past our the line we're pointing to for this type of data
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dataLabel = self.logdata.formats[lineLabel].labels[0]
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(index, lineNumber) = self.iterators[lineLabel]
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# if so, and it is not the last entry in the log, then increment the indices for all dataLabels under that lineLabel
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# if so, and it is not the last entry in the log, increment the indices for dataLabels under that lineLabel
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if (self.currentLine > lineNumber) and (
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index < len(self.logdata.channels[lineLabel][dataLabel].listData) - 1
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):
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@ -379,7 +380,7 @@ class DataflashLogHelper:
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@staticmethod
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def getTimeAtLine(logdata, lineNumber):
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'''returns the nearest GPS timestamp in milliseconds after the given line number'''
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if not "GPS" in logdata.channels:
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if "GPS" not in logdata.channels:
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raise Exception("no GPS log data found")
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# older logs use 'TIme', newer logs use 'TimeMS'
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# even newer logs use TimeUS
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@ -400,7 +401,10 @@ class DataflashLogHelper:
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@staticmethod
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def findLoiterChunks(logdata, minLengthSeconds=0, noRCInputs=True):
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'''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'''
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"""
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Returns a list of (to, from) pairs defining sections of the log which are in loiter mode, ordered from longest
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to shortest in time. If `noRCInputs == True` it only returns chunks with no control inputs
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"""
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# TODO: implement noRCInputs handling when identifying stable loiter chunks, for now we're ignoring it
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def chunkSizeCompare(chunk1, chunk2):
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@ -430,9 +434,7 @@ class DataflashLogHelper:
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) / 1000.0
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if chunkTimeSeconds > minLengthSeconds:
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chunks.append((startLine, endLine))
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# print("LOITER chunk: %d to %d, %d lines" % (startLine,endLine,endLine-startLine+1))
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# print(" (time %d to %d, %d seconds)" % (DataflashLogHelper.getTimeAtLine(logdata,startLine), DataflashLogHelper.getTimeAtLine(logdata,endLine), chunkTimeSeconds))
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chunks.sort(chunkSizeCompare)
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chunks.sort(key=lambda chunk: chunk[1] - chunk[0])
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return chunks
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@staticmethod
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@ -445,7 +447,7 @@ class DataflashLogHelper:
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if "CTUN" in logdata.channels:
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try:
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maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
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except KeyError as e:
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except KeyError:
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# ThrOut was shorted to ThO at some stage...
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maxThrottle = logdata.channels["CTUN"]["ThO"].max()
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# at roughly the same time ThO became a range from 0 to 1
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@ -456,7 +458,10 @@ class DataflashLogHelper:
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class DataflashLog(object):
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'''ArduPilot Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions to DataflashLogHelper class'''
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"""
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ArduPilot Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions
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to DataflashLogHelper class
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"""
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knownHardwareTypes = ["APM", "PX4", "MPNG"]
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@ -539,7 +544,6 @@ class DataflashLog(object):
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elif format == 'auto':
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if self.filename == '<stdin>':
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# assuming TXT format
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# raise ValueError("Invalid log format for stdin: {}".format(format))
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head = ""
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else:
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head = f.read(4)
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@ -620,7 +624,7 @@ class DataflashLog(object):
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else:
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# assume it has ModeNum:
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self.modeChanges[lineNumber] = (modes[int(e.Mode)], e.ModeNum)
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except ValueError as x:
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except ValueError:
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if hasattr(e, 'ThrCrs'):
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self.modeChanges[lineNumber] = (e.Mode, e.ThrCrs)
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else:
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@ -687,7 +691,7 @@ class DataflashLog(object):
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groupName = e.NAME
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# first time seeing this type of log line, create the channel storage
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if not groupName in self.channels:
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if groupName not in self.channels:
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self.channels[groupName] = {}
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for label in e.labels:
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self.channels[groupName][label] = Channel()
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@ -708,7 +712,6 @@ class DataflashLog(object):
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lineNumber = lineNumber + 1
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numBytes += len(line) + 1
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try:
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# print("Reading line: %d" % lineNumber)
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line = line.strip('\n\r')
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tokens = line.split(', ')
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# first handle the log header lines
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@ -727,7 +730,8 @@ class DataflashLog(object):
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elif len(tokens2) == 3 and tokens2[0] == "Free" and tokens2[1] == "RAM:":
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self.freeRAM = int(tokens2[2])
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elif tokens2[0] in knownHardwareTypes:
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self.hardwareType = line # not sure if we can parse this more usefully, for now only need to report it back verbatim
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# not sure if we can parse this more usefully, for now only need to report it back verbatim
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self.hardwareType = line
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elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][
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0
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].lower() == "v": # e.g. ArduCopter V3.1 (5c6503e2)
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@ -777,7 +781,7 @@ class DataflashLog(object):
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while len(data) > offset + ctypes.sizeof(logheader):
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h = logheader.from_buffer(data, offset)
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if not (h.head1 == 0xA3 and h.head2 == 0x95):
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if ignoreBadlines == False:
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if ignoreBadlines is False:
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raise ValueError(h)
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else:
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if h.head1 == 0xFF and h.head2 == 0xFF and h.msgid == 0xFF:
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@ -5,13 +5,15 @@
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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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# some logging oddities noticed while doing this, to be followed up on:
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# - tradheli MOT labels Mot1,Mot2,Mot3,Mot4,GGain
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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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# - copter+plane use 'V' in their vehicle type/version/build line, rover uses lower case 'v'.
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# 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: add test for noisy baro values
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@ -25,7 +27,6 @@ import glob
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import imp
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import inspect
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import os
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import pprint # temp
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import sys
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import time
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from xml.sax.saxutils import escape
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@ -38,7 +39,8 @@ class TestResult(object):
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'''all tests return a standardized result type'''
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class StatusType:
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# 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
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# NA means not applicable for this log (e.g. copter tests against a plane log)
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# UNKNOWN means it is missing data required for the test
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GOOD, FAIL, WARN, UNKNOWN, NA = range(5)
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status = None
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@ -46,7 +48,10 @@ class TestResult(object):
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class Test(object):
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'''base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with clear results'''
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"""
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Base class to be inherited by log tests. Each test should be quite granular so we have lots of small tests with
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clear results
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"""
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def __init__(self):
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self.name = ""
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@ -140,7 +145,8 @@ class TestSuite(object):
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print('\n')
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print(
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'The Log Analyzer is currently BETA code.\nFor any support or feedback on the log analyzer please email Andrew Chapman (amchapman@gmail.com)'
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"The Log Analyzer is currently BETA code."
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"\nFor any support or feedback on the log analyzer please email Andrew Chapman (amchapman@gmail.com)"
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)
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print('\n')
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@ -218,8 +224,6 @@ class TestSuite(object):
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def main():
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dirName = os.path.dirname(os.path.abspath(__file__))
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# deal with command line arguments
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parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues')
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parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file (or - for stdin)')
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@ -5,6 +5,8 @@
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#
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#
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# AP_FLAKE8_CLEAN
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# TODO: implement more unit+regression tests
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from __future__ import print_function
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@ -397,6 +399,6 @@ try:
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print("All unit/regression tests GOOD\n")
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except Exception as e:
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except Exception:
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print("Error found: " + traceback.format_exc())
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print("UNIT TEST FAILED\n")
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@ -1,3 +1,6 @@
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# AP_FLAKE8_CLEAN
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class VehicleType:
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Plane = 17
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Copter = 23
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@ -1,4 +1,5 @@
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import DataflashLog
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# AP_FLAKE8_CLEAN
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from LogAnalyzer import Test, TestResult
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from VehicleType import VehicleType
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@ -70,7 +71,7 @@ class TestAutotune(Test):
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for i in ['EV', 'ATDE', 'ATUN']:
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r = False
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if not i in logdata.channels:
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if i not in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No {} log data".format(i)
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r = True
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@ -126,7 +127,9 @@ class TestAutotune(Test):
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for key in logdata.channels['ATUN']:
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setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[0])
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linenext = logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[1] + 1
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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(
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l=linenext, s=s, atun=atun
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)
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self.result.statusMessage += (
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"ATUN Axis:{atun.Axis} TuneStep:{atun.TuneStep} RateMin:{atun.RateMin:5.0f}"
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" RateMax:{atun.RateMax:5.0f} RPGain:{atun.RPGain:1.4f} RDGain:{atun.RDGain:1.4f}"
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" SPGain:{atun.SPGain:1.1f} (@line:{l})\n"
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).format(l=linenext, atun=atun)
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self.result.statusMessage += '\n'
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@ -1,6 +1,5 @@
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import collections
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# AP_FLAKE8_CLEAN
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import DataflashLog
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from LogAnalyzer import Test, TestResult
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@ -19,7 +18,8 @@ class TestBrownout(Test):
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# FIXME: cope with LOG_ARM_DISARM_MSG message
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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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# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm,
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# not takeoff+land
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for line, ev in logdata.channels["EV"]["Id"].listData:
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if ev == 10:
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isArmed = True
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|
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@ -1,7 +1,9 @@
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# AP_FLAKE8_CLEAN
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import math
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from functools import reduce
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import DataflashLog
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from LogAnalyzer import Test, TestResult
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|
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@ -1,6 +1,8 @@
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# AP_FLAKE8_CLEAN
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from __future__ import print_function
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import DataflashLog
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from LogAnalyzer import Test, TestResult
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@ -25,12 +27,10 @@ class TestDupeLogData(Test):
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# c
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data = logdata.channels["ATT"]["Pitch"].listData
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for i in range(sampleStartIndex, len(data)):
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# print("Checking against index %d" % i)
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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]:
|
||||
# print("### Match found, j=%d, data=%f, sample=%f, log data matched to sample at line %d" % (j,data[i+j][1],sample[j][1],data[i+j][0]))
|
||||
j += 1
|
||||
if j == 20: # all samples match
|
||||
return data[i][0]
|
||||
|
|
@ -41,7 +41,8 @@ class TestDupeLogData(Test):
|
|||
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
|
||||
# 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"
|
||||
|
|
@ -49,22 +50,18 @@ class TestDupeLogData(Test):
|
|||
|
||||
# pick 10 sample points within the range of ATT data we have
|
||||
sampleStartIndices = []
|
||||
attStartIndex = 0
|
||||
attEndIndex = len(logdata.channels["ATT"]["Pitch"].listData) - 1
|
||||
step = int(attEndIndex / 11)
|
||||
for i in range(step, attEndIndex - step, step):
|
||||
sampleStartIndices.append(i)
|
||||
# print("Dupe data sample point index %d at line %d" % (i, logdata.channels["ATT"]["Pitch"].listData[i][0]))
|
||||
|
||||
# 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]:
|
||||
# print("Checking sample %d" % i)
|
||||
sample = logdata.channels["ATT"]["Pitch"].listData[i : i + 20]
|
||||
matchedLine = self.__matchSample(sample, i, logdata)
|
||||
if matchedLine:
|
||||
# print("Data from line %d found duplicated at line %d" % (sample[0][0],matchedLine))
|
||||
self.result.status = TestResult.StatusType.FAIL
|
||||
self.result.statusMessage = "Duplicate data chunks found in log (%d and %d)" % (
|
||||
sample[0][0],
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
import DataflashLog
|
||||
# AP_FLAKE8_CLEAN
|
||||
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -1,8 +1,10 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
from math import sqrt
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
||||
|
||||
|
|
@ -23,12 +25,12 @@ class TestIMUMatch(Test):
|
|||
self.result = TestResult()
|
||||
self.result.status = TestResult.StatusType.GOOD
|
||||
|
||||
if ("IMU" in logdata.channels) and (not "IMU2" in logdata.channels):
|
||||
if ("IMU" in logdata.channels) and ("IMU2" not in logdata.channels):
|
||||
self.result.status = TestResult.StatusType.NA
|
||||
self.result.statusMessage = "No IMU2"
|
||||
return
|
||||
|
||||
if (not "IMU" in logdata.channels) or (not "IMU2" in logdata.channels):
|
||||
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
|
||||
|
|
@ -115,7 +117,6 @@ class TestIMUMatch(Test):
|
|||
|
||||
diff_filtered = sqrt(xdiff_filtered**2 + ydiff_filtered**2 + zdiff_filtered**2)
|
||||
max_diff_filtered = max(max_diff_filtered, diff_filtered)
|
||||
# print(max_diff_filtered)
|
||||
last_t = t
|
||||
|
||||
if max_diff_filtered > fail_threshold:
|
||||
|
|
|
|||
|
|
@ -1,4 +1,5 @@
|
|||
import DataflashLog
|
||||
# AP_FLAKE8_CLEAN
|
||||
|
||||
from LogAnalyzer import Test, TestResult
|
||||
from VehicleType import VehicleType
|
||||
|
||||
|
|
@ -19,7 +20,7 @@ class TestBalanceTwist(Test):
|
|||
return
|
||||
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
if not "RCOU" in logdata.channels:
|
||||
if "RCOU" not in logdata.channels:
|
||||
return
|
||||
|
||||
ch = []
|
||||
|
|
@ -50,7 +51,7 @@ class TestBalanceTwist(Test):
|
|||
/ (logdata.parameters["RC3_MAX"] - logdata.parameters["RC3_MIN"])
|
||||
/ 1000.0
|
||||
)
|
||||
except KeyError as e:
|
||||
except KeyError:
|
||||
min_throttle = (
|
||||
logdata.parameters["MOT_PWM_MIN"]
|
||||
/ (logdata.parameters["MOT_PWM_MAX"] - logdata.parameters["RC3_MIN"])
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
import math
|
||||
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
|
@ -36,5 +39,5 @@ class TestNaN(Test):
|
|||
field,
|
||||
)
|
||||
raise ValueError()
|
||||
except ValueError as e:
|
||||
except ValueError:
|
||||
continue
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from math import sqrt
|
||||
|
||||
import DataflashLog
|
||||
import matplotlib.pyplot as plt
|
||||
import numpy as np
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
|
@ -53,8 +55,12 @@ class TestFlow(Test):
|
|||
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)
|
||||
param_abs_threshold = 200 # 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.
|
||||
min_num_points = 100 # 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.
|
||||
# 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"]
|
||||
|
|
@ -204,7 +210,8 @@ class TestFlow(Test):
|
|||
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
|
||||
# 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
|
||||
)
|
||||
|
|
@ -212,7 +219,8 @@ class TestFlow(Test):
|
|||
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
|
||||
# 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)))
|
||||
|
||||
|
|
@ -220,8 +228,9 @@ class TestFlow(Test):
|
|||
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])))
|
||||
"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
|
||||
|
|
@ -234,7 +243,12 @@ class TestFlow(Test):
|
|||
|
||||
# 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"
|
||||
"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,
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
import math # for isnan()
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
from VehicleType import VehicleType
|
||||
|
||||
|
|
@ -54,8 +56,10 @@ class TestParams(Test):
|
|||
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
|
||||
# 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:
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
from VehicleType import VehicleType
|
||||
|
||||
|
|
@ -21,7 +23,8 @@ class TestPerformance(Test):
|
|||
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
|
||||
# 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:
|
||||
|
|
@ -32,7 +35,6 @@ class TestPerformance(Test):
|
|||
# if not armingLines:
|
||||
# break
|
||||
# if maxT[0] > armingLines[0]:
|
||||
# #print("Ignoring maxT from line %d, as it is the first PM line after arming on line %d" % (maxT[0],armingLines[0]))
|
||||
# ignoreMaxTLines.append(maxT[0])
|
||||
# armingLines.pop(0)
|
||||
|
||||
|
|
@ -55,8 +57,6 @@ class TestPerformance(Test):
|
|||
if percentSlow > maxPercentSlow:
|
||||
maxPercentSlow = percentSlow
|
||||
maxPercentSlowLine = line
|
||||
# if (maxT > 13000) and line not in ignoreMaxTLines:
|
||||
# print("MaxT of %d detected on line %d" % (maxT,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" % (
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
import collections
|
||||
|
||||
import DataflashLog
|
||||
|
|
@ -8,12 +11,12 @@ 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
|
||||
# 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"
|
||||
self.enable = True # TEMP
|
||||
|
||||
def run(self, logdata, verbose):
|
||||
self.result = TestResult()
|
||||
|
|
@ -23,12 +26,12 @@ class TestPitchRollCoupling(Test):
|
|||
self.result.status = TestResult.StatusType.NA
|
||||
return
|
||||
|
||||
if not "ATT" in logdata.channels:
|
||||
if "ATT" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No ATT log data"
|
||||
return
|
||||
|
||||
if not "CTUN" in logdata.channels:
|
||||
if "CTUN" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No CTUN log data"
|
||||
return
|
||||
|
|
@ -38,7 +41,8 @@ class TestPitchRollCoupling(Test):
|
|||
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
|
||||
# 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",
|
||||
|
|
|
|||
|
|
@ -1,6 +1,8 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
from VehicleType import VehicleType
|
||||
|
||||
|
|
@ -20,11 +22,11 @@ class TestThrust(Test):
|
|||
self.result.status = TestResult.StatusType.NA
|
||||
return
|
||||
|
||||
if not "CTUN" in logdata.channels:
|
||||
if "CTUN" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No CTUN log data"
|
||||
return
|
||||
if not "ATT" in logdata.channels:
|
||||
if "ATT" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No ATT log data"
|
||||
return
|
||||
|
|
@ -49,7 +51,8 @@ class TestThrust(Test):
|
|||
|
||||
highThrottleSegments = []
|
||||
|
||||
# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if tilt > tiltThreshold, and discard any segments shorter than minSampleLength
|
||||
# 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)):
|
||||
|
|
@ -61,11 +64,10 @@ class TestThrust(Test):
|
|||
if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
|
||||
isBelowTiltThreshold = False
|
||||
if (value > highThrottleThreshold) and isBelowTiltThreshold:
|
||||
if start == None:
|
||||
if start is None:
|
||||
start = i
|
||||
elif start != None:
|
||||
elif start is not None:
|
||||
if (i - start) > minSampleLength:
|
||||
# print("Found high throttle chunk from line %d to %d (%d samples)" % (data[start][0],data[i][0],i-start+1))
|
||||
highThrottleSegments.append((start, i))
|
||||
start = None
|
||||
|
||||
|
|
|
|||
|
|
@ -1,6 +1,5 @@
|
|||
import collections
|
||||
# AP_FLAKE8_CLEAN
|
||||
|
||||
import DataflashLog
|
||||
from LogAnalyzer import Test, TestResult
|
||||
|
||||
|
||||
|
|
@ -15,7 +14,7 @@ class TestVCC(Test):
|
|||
self.result = TestResult()
|
||||
self.result.status = TestResult.StatusType.GOOD
|
||||
|
||||
if not "CURR" in logdata.channels:
|
||||
if "CURR" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No CURR log data"
|
||||
return
|
||||
|
|
@ -24,7 +23,7 @@ class TestVCC(Test):
|
|||
try:
|
||||
vccMin = logdata.channels["CURR"]["Vcc"].min()
|
||||
vccMax = logdata.channels["CURR"]["Vcc"].max()
|
||||
except KeyError as e:
|
||||
except KeyError:
|
||||
vccMin = logdata.channels["POWR"]["Vcc"].min()
|
||||
vccMax = logdata.channels["POWR"]["Vcc"].max()
|
||||
vccMin *= 1000
|
||||
|
|
|
|||
|
|
@ -1,3 +1,6 @@
|
|||
# AP_FLAKE8_CLEAN
|
||||
|
||||
|
||||
from __future__ import print_function
|
||||
|
||||
import DataflashLog
|
||||
|
|
@ -21,13 +24,12 @@ class TestVibration(Test):
|
|||
return
|
||||
|
||||
# constants
|
||||
gravity = -9.81
|
||||
aimRangeWarnXY = 1.5
|
||||
aimRangeFailXY = 3.0
|
||||
aimRangeWarnZ = 2.0 # gravity +/- aim range
|
||||
aimRangeFailZ = 5.0 # gravity +/- aim range
|
||||
|
||||
if not "IMU" in logdata.channels:
|
||||
if "IMU" not in logdata.channels:
|
||||
self.result.status = TestResult.StatusType.UNKNOWN
|
||||
self.result.statusMessage = "No IMU log data"
|
||||
return
|
||||
|
|
@ -40,11 +42,11 @@ class TestVibration(Test):
|
|||
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: 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]
|
||||
# print("TestVibration using LOITER chunk from lines %s to %s" % (repr(startLine), repr(endLine)))
|
||||
|
||||
def getStdDevIMU(logdata, channelName, startLine, endLine):
|
||||
loiterData = logdata.channels["IMU"][channelName].getSegment(startLine, endLine)
|
||||
|
|
|
|||
Loading…
Reference in New Issue