mirror of https://github.com/ArduPilot/ardupilot
127 lines
4.7 KiB
Python
127 lines
4.7 KiB
Python
from LogAnalyzer import Test, TestResult
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import DataflashLog
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from VehicleType import VehicleType
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# from ArduCopter/defines.h
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AUTOTUNE_INITIALISED = 30
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AUTOTUNE_OFF = 31
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AUTOTUNE_RESTART = 32
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AUTOTUNE_SUCCESS = 33
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AUTOTUNE_FAILED = 34
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AUTOTUNE_REACHED_LIMIT = 35
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AUTOTUNE_PILOT_TESTING = 36
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AUTOTUNE_SAVEDGAINS = 37
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AUTOTUNE_EVENTS = frozenset([AUTOTUNE_INITIALISED,
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AUTOTUNE_OFF,
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AUTOTUNE_RESTART,
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AUTOTUNE_SUCCESS,
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AUTOTUNE_FAILED,
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AUTOTUNE_REACHED_LIMIT,
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AUTOTUNE_PILOT_TESTING,
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AUTOTUNE_SAVEDGAINS])
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class TestAutotune(Test):
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'''test for autotune success (copter only)'''
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class AutotuneSession(object):
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def __init__(self, events):
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self.events = events
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@property
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def linestart(self):
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return self.events[0][0]
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@property
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def linestop(self):
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return self.events[-1][0]
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@property
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def success(self):
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return AUTOTUNE_SUCCESS in [i for _,i in self.events]
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@property
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def failure(self):
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return AUTOTUNE_FAILED in [i for _,i in self.events]
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@property
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def limit(self):
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return AUTOTUNE_REACHED_LIMIT in [i for _,i in self.events]
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def __repr__(self):
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return "<AutotuneSession {}-{}>".format(self.linestart,self.linestop)
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def __init__(self):
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Test.__init__(self)
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self.name = "Autotune"
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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 logdata.vehicleType != VehicleType.Copter:
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self.result.status = TestResult.StatusType.NA
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return
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for i in ['EV','ATDE','ATUN']:
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r = False
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if not i in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No {} log data".format(i)
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r = True
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if r:
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return
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events = filter(lambda x: x[1] in AUTOTUNE_EVENTS, logdata.channels["EV"]["Id"].listData)
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attempts = []
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j = None
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for i in range(0,len(events)):
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line,ev = events[i]
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if ev == AUTOTUNE_INITIALISED:
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if j is not None:
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attempts.append(TestAutotune.AutotuneSession(events[j:i]))
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j = i
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# last attempt
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if j is not None:
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attempts.append(TestAutotune.AutotuneSession(events[j:]))
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for a in attempts:
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# this should not be necessary!
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def class_from_channel(c):
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members = dict({'__init__':lambda x: setattr(x,i,None) for i in logdata.channels[c]})
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cls = type(\
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'Channel__{:s}'.format(c),
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(object,),
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members
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)
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return cls
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# last wins
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if a.success:
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self.result.status = TestResult.StatusType.GOOD
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s = "[+]"
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elif a.failure:
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self.result.status = TestResult.StatusType.FAIL
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s = "[-]"
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else:
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self.result.status = TestResult.StatusType.UNKNOWN
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s = "[?]"
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s += " Autotune {}-{}\n".format(a.linestart,a.linestop)
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self.result.statusMessage += s
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if verbose:
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linenext = a.linestart + 1
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while linenext < a.linestop:
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try:
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line = logdata.channels['ATUN']['RateMax'].getNearestValueFwd(linenext)[1]
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if line > a.linestop:
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break
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except:
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break
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atun = class_from_channel('ATUN')()
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for key in logdata.channels['ATUN']:
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setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[0])
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linenext = logdata.channels['ATUN'][key].getNearestValueFwd(linenext)[1] + 1
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self.result.statusMessage += 'ATUN Axis:{atun.Axis} TuneStep:{atun.TuneStep} RateMin:{atun.RateMin:5.0f} RateMax:{atun.RateMax:5.0f} RPGain:{atun.RPGain:1.4f} RDGain:{atun.RDGain:1.4f} SPGain:{atun.SPGain:1.1f} (@line:{l})\n'.format(l=linenext,s=s, atun=atun)
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self.result.statusMessage += '\n'
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