mirror of https://github.com/ArduPilot/ardupilot
91 lines
3.8 KiB
Python
91 lines
3.8 KiB
Python
from __future__ import print_function
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from LogAnalyzer import Test,TestResult
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import DataflashLog
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class TestThrust(Test):
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'''test for sufficient thrust (copter only for now)'''
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def __init__(self):
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Test.__init__(self)
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self.name = "Thrust"
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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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if not "CTUN" in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No CTUN log data"
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return
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if not "ATT" in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No ATT log data"
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return
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throut_key = None
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for key in "ThO", "ThrOut":
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if key in logdata.channels["CTUN"]:
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throut_key = key
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break
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if throut_key is None:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "Could not find throttle out column"
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return
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# check for throttle (CTUN.ThrOut) above 700 for a chunk of time with copter not rising
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highThrottleThreshold = 700
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tiltThreshold = 20 # ignore high throttle when roll or tilt is above this value
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climbThresholdWARN = 100
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climbThresholdFAIL = 50
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minSampleLength = 50
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highThrottleSegments = []
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# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if tilt > tiltThreshold, and discard any segments shorter than minSampleLength
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start = None
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data = logdata.channels["CTUN"][throut_key].listData
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for i in range(0,len(data)):
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(lineNumber,value) = data[i]
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isBelowTiltThreshold = True
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if value > highThrottleThreshold:
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(roll,meh) = logdata.channels["ATT"]["Roll"].getNearestValue(lineNumber)
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(pitch,meh) = logdata.channels["ATT"]["Pitch"].getNearestValue(lineNumber)
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if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
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isBelowTiltThreshold = False
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if (value > highThrottleThreshold) and isBelowTiltThreshold:
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if start == None:
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start = i
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elif start != None:
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if (i-start) > minSampleLength:
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#print("Found high throttle chunk from line %d to %d (%d samples)" % (data[start][0],data[i][0],i-start+1))
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highThrottleSegments.append((start,i))
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start = None
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climbRate = "CRate"
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if "CRate" not in logdata.channels["CTUN"]:
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climbRate = "CRt"
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# loop through each checking climbRate, if < 50 FAIL, if < 100 WARN
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# TODO: we should filter climbRate and use its slope rather than value for this test
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for seg in highThrottleSegments:
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(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
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avgClimbRate = logdata.channels["CTUN"][climbRate].getSegment(startLine,endLine).avg()
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avgThrOut = logdata.channels["CTUN"][throut_key].getSegment(startLine,endLine).avg()
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if avgClimbRate < climbThresholdFAIL:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
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return
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if avgClimbRate < climbThresholdWARN:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
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