mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.5 KiB
Python
72 lines
2.5 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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class TestBalanceTwist(Test):
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'''test for badly unbalanced copter, including yaw twist'''
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def __init__(self):
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Test.__init__(self)
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self.name = "Motor Balance"
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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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self.result.status = TestResult.StatusType.UNKNOWN
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if not "RCOU" in logdata.channels:
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return
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ch = []
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for i in range(8):
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for prefix in "Chan", "Ch", "C":
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if prefix+repr((i+1)) in logdata.channels["RCOU"]:
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ch.append(map(lambda x: x[1], logdata.channels["RCOU"][prefix+repr((i+1))].listData))
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ch = zip(*ch)
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num_channels = 0
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ch = list(ch)
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for i in range(len(ch)):
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ch[i] = list(filter(lambda x: (x>0 and x<3000), ch[i]))
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if num_channels < len(ch[i]):
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num_channels = len(ch[i])
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if logdata.frame:
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num_channels = logdata.num_motor_channels()
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if num_channels < 2:
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return
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try:
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min_throttle = logdata.parameters["RC3_MIN"] + logdata.parameters["THR_MIN"] / (logdata.parameters["RC3_MAX"]-logdata.parameters["RC3_MIN"])/1000.0
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except KeyError as e:
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min_throttle = logdata.parameters["MOT_PWM_MIN"] / (logdata.parameters["MOT_PWM_MAX"]-logdata.parameters["RC3_MIN"])/1000.0
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ch = list(filter(lambda x:sum(x)/num_channels > min_throttle, ch))
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if len(ch) == 0:
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return
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avg_sum = 0
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avg_ch = []
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for i in range(num_channels):
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avg = list(map(lambda x: x[i],ch))
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avg = sum(avg)/len(avg)
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avg_ch.append(avg)
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avg_sum += avg
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avg_all = avg_sum / num_channels
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self.result.statusMessage = "Motor channel averages = %s\nAverage motor output = %.0f\nDifference between min and max motor averages = %.0f" % (str(avg_ch),avg_all,abs(min(avg_ch)-max(avg_ch)))
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self.result.status = TestResult.StatusType.GOOD
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if abs(min(avg_ch)-max(avg_ch)) > 75:
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self.result.status = TestResult.StatusType.WARN
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if abs(min(avg_ch)-max(avg_ch)) > 150:
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self.result.status = TestResult.StatusType.FAIL
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