mirror of https://github.com/ArduPilot/ardupilot
115 lines
4.0 KiB
Python
115 lines
4.0 KiB
Python
from LogAnalyzer import Test,TestResult
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import DataflashLog
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from math import sqrt
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class TestIMUMatch(Test):
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'''test for empty or near-empty logs'''
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def __init__(self):
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Test.__init__(self)
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self.name = "IMU Mismatch"
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def run(self, logdata, verbose):
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#tuning parameters:
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warn_threshold = .75
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fail_threshold = 1.5
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filter_tc = 5.0
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self.result = TestResult()
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self.result.status = TestResult.StatusType.GOOD
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if ("IMU" in logdata.channels) and (not "IMU2" in logdata.channels):
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self.result.status = TestResult.StatusType.NA
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self.result.statusMessage = "No IMU2"
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return
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if (not "IMU" in logdata.channels) or (not "IMU2" in logdata.channels):
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No IMU log data"
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return
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imu1 = logdata.channels["IMU"]
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imu2 = logdata.channels["IMU2"]
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timeLabel = None
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for i in 'TimeMS','TimeUS','Time':
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if i in logdata.channels["GPS"]:
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timeLabel = i
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break
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imu1_timems = imu1[timeLabel].listData
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imu1_accx = imu1["AccX"].listData
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imu1_accy = imu1["AccY"].listData
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imu1_accz = imu1["AccZ"].listData
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imu2_timems = imu2[timeLabel].listData
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imu2_accx = imu2["AccX"].listData
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imu2_accy = imu2["AccY"].listData
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imu2_accz = imu2["AccZ"].listData
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imu_multiplier = 1.0E-3
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if timeLabel == 'TimeUS':
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imu_multiplier = 1.0E-6
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imu1 = []
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imu2 = []
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for i in range(len(imu1_timems)):
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imu1.append({ 't': imu1_timems[i][1]*imu_multiplier, 'x': imu1_accx[i][1], 'y': imu1_accy[i][1], 'z': imu1_accz[i][1]})
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for i in range(len(imu2_timems)):
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imu2.append({ 't': imu2_timems[i][1]*imu_multiplier, 'x': imu2_accx[i][1], 'y': imu2_accy[i][1], 'z': imu2_accz[i][1]})
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imu1.sort(key=lambda x: x['t'])
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imu2.sort(key=lambda x: x['t'])
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imu2_index = 0
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last_t = None
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xdiff_filtered = 0
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ydiff_filtered = 0
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zdiff_filtered = 0
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max_diff_filtered = 0
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for i in range(len(imu1)):
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#find closest imu2 value
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t = imu1[i]['t']
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dt = 0 if last_t is None else t-last_t
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dt=min(dt,.1)
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next_imu2 = None
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for i in range(imu2_index,len(imu2)):
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next_imu2 = imu2[i]
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imu2_index=i
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if next_imu2['t'] >= t:
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break
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prev_imu2 = imu2[imu2_index-1]
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closest_imu2 = next_imu2 if abs(next_imu2['t']-t)<abs(prev_imu2['t']-t) else prev_imu2
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xdiff = imu1[i]['x']-closest_imu2['x']
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ydiff = imu1[i]['y']-closest_imu2['y']
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zdiff = imu1[i]['z']-closest_imu2['z']
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xdiff_filtered += (xdiff-xdiff_filtered)*dt/filter_tc
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ydiff_filtered += (ydiff-ydiff_filtered)*dt/filter_tc
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zdiff_filtered += (zdiff-zdiff_filtered)*dt/filter_tc
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diff_filtered = sqrt(xdiff_filtered**2+ydiff_filtered**2+zdiff_filtered**2)
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max_diff_filtered = max(max_diff_filtered,diff_filtered)
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#print max_diff_filtered
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last_t = t
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if max_diff_filtered > fail_threshold:
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self.result.statusMessage = "Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold,fail_threshold)
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self.result.status = TestResult.StatusType.FAIL
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elif max_diff_filtered > warn_threshold:
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self.result.statusMessage = "Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold,fail_threshold)
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self.result.status = TestResult.StatusType.WARN
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else:
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self.result.statusMessage = "(Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold, fail_threshold)
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