from LogAnalyzer import Test,TestResult import DataflashLog import math 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 indexmaxMagField: maxMagField = mf maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0] if index == 0: (minMagField, maxMagField) = (mf,mf) index += 1 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 zerosFound: WARN() self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n" 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) 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'