from LogAnalyzer import Test,TestResult import DataflashLog from VehicleType import VehicleType class TestBalanceTwist(Test): '''test for badly unbalanced copter, including yaw twist''' def __init__(self): Test.__init__(self) self.name = "Motor Balance" def run(self, logdata, verbose): self.result = TestResult() self.result.status = TestResult.StatusType.GOOD if logdata.vehicleType != VehicleType.Copter: self.result.status = TestResult.StatusType.NA return self.result.status = TestResult.StatusType.UNKNOWN if not "RCOU" in logdata.channels: return ch = [] for i in range(8): for prefix in "Chan", "Ch", "C": if prefix+`(i+1)` in logdata.channels["RCOU"]: ch.append(map(lambda x: x[1], logdata.channels["RCOU"][prefix+`(i+1)`].listData)) ch = zip(*ch) num_channels = 0 for i in range(len(ch)): ch[i] = filter(lambda x: (x>0 and x<3000), ch[i]) if num_channels < len(ch[i]): num_channels = len(ch[i]) if num_channels < 2: return try: min_throttle = logdata.parameters["RC3_MIN"] + logdata.parameters["THR_MIN"] / (logdata.parameters["RC3_MAX"]-logdata.parameters["RC3_MIN"])/1000.0 except KeyError as e: min_throttle = logdata.parameters["MOT_PWM_MIN"] / (logdata.parameters["MOT_PWM_MAX"]-logdata.parameters["RC3_MIN"])/1000.0 ch = filter(lambda x:sum(x)/num_channels > min_throttle, ch) if len(ch) == 0: return avg_all = map(lambda x:sum(x)/num_channels,ch) avg_all = sum(avg_all)/len(avg_all) avg_ch = [] for i in range(num_channels): avg = map(lambda x: x[i],ch) avg = sum(avg)/len(avg) avg_ch.append(avg) self.result.statusMessage = "Motor channel averages = %s\nAverage motor output = %.0f\nDifference between min and max motor averages = %.0f" % (str(avg_ch),avg_all,abs(min(avg_ch)-max(avg_ch))) self.result.status = TestResult.StatusType.GOOD if abs(min(avg_ch)-max(avg_ch)) > 75: self.result.status = TestResult.StatusType.WARN if abs(min(avg_ch)-max(avg_ch)) > 150: self.result.status = TestResult.StatusType.FAIL