LogAnalyzer: add TestAutotune

- very basic, checks for autotune start/success/fail and provides the
   most recent ATUN/ATDE values
 - very handy in case autotune fails

Tools/LogAnalyzer/tests/TestAutotune.py

@@ -0,0 +1,74 @@
+from LogAnalyzer import Test,TestResult
+import DataflashLog
+
+
+class TestAutotune(Test):
+    '''test for autotune success (copter only)'''
+
+    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 != "ArduCopter":
+            self.result.status = TestResult.StatusType.NA
+            return
+
+        for i in ['EV','ATDE','ATUN']:
+            r = False
+            if not i in logdata.channels:
+                self.result.status = TestResult.StatusType.UNKNOWN
+                self.result.statusMessage = "No {} log data".format(i)
+                r = True
+        if r:
+            return
+
+        for line,ev in logdata.channels["EV"]["Id"].listData:
+            if ev != 30: # Autotune Start
+                continue
+            nextline = startline = line
+            nextev = -1
+            while nextev not in(35,34):
+                try:
+                    (nextev,nextline) = logdata.channels["EV"]["Id"].getNearestValueFwd(nextline+1)
+                except:
+                    break
+
+                if nextev not in(35,34): # autotune is still running
+                    continue
+
+                if nextev == 34: # autotune failed
+                    self.result.status = TestResult.StatusType.FAIL
+                    s = "[-]"
+                else:
+                    self.result.status = TestResult.StatusType.GOOD
+                    s = "[+]"
+
+                # 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
+
+                atde = class_from_channel('ATDE')()
+                for key in logdata.channels['ATDE']:
+                    setattr(atde, key, logdata.channels['ATDE'][key].getNearestValueBack(nextline)[0])
+
+                atun = class_from_channel('ATUN')()
+                for key in logdata.channels['ATUN']:
+                    setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueBack(nextline)[0])
+                self.result.statusMessage += '{s} ATDE Angle:{atde.Angle} Rate:{atde.Rate} ATUN RPGain:{atun.RPGain} RDGain:{atun.RDGain} SPGain:{atun.SPGain} (@line:{l})\n'.format(l=nextline,s=s,atde=atde, atun=atun)
+
+            if nextev not in(35,34):
+                self.result.statusMessage += "incomplete autotune attempt started @{l}\n".format(l=startline)
+
+
+
+