mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.9 KiB
Python
73 lines
2.9 KiB
Python
# AP_FLAKE8_CLEAN
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from LogAnalyzer import Test, TestResult
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class TestGPSGlitch(Test):
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'''test for GPS glitch reporting or bad GPS data (satellite count, hdop)'''
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def __init__(self):
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Test.__init__(self)
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self.name = "GPS"
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def findSatsChan(self, channels):
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for chan in "NSats", "NSat", "numSV":
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if chan in channels:
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return channels[chan]
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def findHDopChan(self, channels):
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for chan in "HDop", "HDp", "EPH":
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if chan in channels:
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return channels[chan]
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def run(self, logdata, verbose):
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self.result = TestResult()
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self.result.status = TestResult.StatusType.GOOD
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if "GPS" not in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No GPS log data"
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return
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# glitch protection is currently copter-only, but might be
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# added to other vehicle types later and there's no harm in
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# leaving the test in for all
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gpsGlitchCount = 0
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if "ERR" in logdata.channels:
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assert len(logdata.channels["ERR"]["Subsys"].listData) == len(logdata.channels["ERR"]["ECode"].listData)
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for i in range(len(logdata.channels["ERR"]["Subsys"].listData)):
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subSys = logdata.channels["ERR"]["Subsys"].listData[i][1]
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eCode = logdata.channels["ERR"]["ECode"].listData[i][1]
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if subSys == 11 and (eCode == 2):
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gpsGlitchCount += 1
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if gpsGlitchCount:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "GPS glitch errors found (%d)" % gpsGlitchCount
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# define and check different thresholds for WARN level and
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# FAIL level
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# TODO: for plane, only check after first instance of throttle
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# > 0, or after takeoff if we can reliably detect it
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minSatsWARN = 6
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minSatsFAIL = 5
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maxHDopWARN = 3.0
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maxHDopFAIL = 10.0
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satsChan = self.findSatsChan(logdata.channels["GPS"])
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hdopChan = self.findHDopChan(logdata.channels["GPS"])
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foundBadSatsWarn = satsChan.min() < minSatsWARN
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foundBadHDopWarn = hdopChan.max() > maxHDopWARN
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foundBadSatsFail = satsChan.min() < minSatsFAIL
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foundBadHDopFail = hdopChan.max() > maxHDopFAIL
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satsMsg = "Min satellites: %s, Max HDop: %s" % (satsChan.min(), hdopChan.max())
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if gpsGlitchCount:
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self.result.statusMessage = "\n".join([self.result.statusMessage, satsMsg])
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if foundBadSatsFail or foundBadHDopFail:
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if not gpsGlitchCount:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = satsMsg
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elif foundBadSatsWarn or foundBadHDopWarn:
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if not gpsGlitchCount:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = satsMsg
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