mirror of https://github.com/ArduPilot/ardupilot
55 lines
2.9 KiB
Python
55 lines
2.9 KiB
Python
from LogAnalyzer import Test,TestResult
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import DataflashLog
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class TestCompass(Test):
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'''test for compass offsets and throttle interference'''
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def __init__(self):
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self.name = "Compass"
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def run(self, logdata):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.PASS
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# quick test that compass offset parameters are within recommended range (+/- 150)
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maxOffset = 150
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if logdata.hardwareType == "PX4":
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maxOffset = 250 # Pixhawks have their offsets scaled larger
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compassOfsX = logdata.parameters["COMPASS_OFS_X"]
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compassOfsY = logdata.parameters["COMPASS_OFS_Y"]
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compassOfsZ = logdata.parameters["COMPASS_OFS_Z"]
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#print "MAG params: %.2f %.2f %.2f" % (compassOfsX,compassOfsY,compassOfsZ)
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if abs(compassOfsX) > maxOffset or abs(compassOfsY) > maxOffset or abs(compassOfsZ) > maxOffset:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Large compass off params (X:%.2f, Y:%.2f, Z:%.2f)" % (compassOfsX,compassOfsY,compassOfsZ)
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# check for excessive compass offsets using MAG data if present (it can change during flight is compass learn is on)
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if "MAG" in logdata.channels:
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err = False
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#print "MAG min/max xyz... %.2f %.2f %.2f %.2f %.2f %.2f " % (logdata.channels["MAG"]["OfsX"].min(), logdata.channels["MAG"]["OfsX"].max(), logdata.channels["MAG"]["OfsY"].min(), logdata.channels["MAG"]["OfsY"].min(), logdata.channels["MAG"]["OfsZ"].min(), logdata.channels["MAG"]["OfsZ"].max())
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if logdata.channels["MAG"]["OfsX"].max() > maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "X: %.2f\n" % logdata.channels["MAG"]["OfsX"].max()
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err = True
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if logdata.channels["MAG"]["OfsX"].min() < -maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "X: %.2f\n" % logdata.channels["MAG"]["OfsX"].min()
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err = True
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if logdata.channels["MAG"]["OfsY"].max() > maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "Y: %.2f\n" % logdata.channels["MAG"]["OfsY"].max()
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err = True
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if logdata.channels["MAG"]["OfsY"].min() < -maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "Y: %.2f\n" % logdata.channels["MAG"]["OfsY"].min()
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err = True
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if logdata.channels["MAG"]["OfsZ"].max() > maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "Z: %.2f\n" % logdata.channels["MAG"]["OfsZ"].max()
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err = True
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if logdata.channels["MAG"]["OfsZ"].min() < -maxOffset:
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self.result.extraFeedback = self.result.extraFeedback + "Z: %.2f\n" % logdata.channels["MAG"]["OfsZ"].min()
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err = True
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if err:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Large compass offset in MAG data"
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# TODO: check for compass/throttle interference. Need to add mag_field to logging, or calc our own from MAG data if present
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# TODO: can we derive a compassmot percentage from the params? Fail if >30%?
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