mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.7 KiB
Python
48 lines
1.7 KiB
Python
# AP_FLAKE8_CLEAN
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from LogAnalyzer import Test, TestResult
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class TestBrownout(Test):
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'''test for a log that has been truncated in flight'''
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def __init__(self):
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Test.__init__(self)
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self.name = "Brownout"
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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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isArmed = False
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# FIXME: cope with LOG_ARM_DISARM_MSG message
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if "EV" in logdata.channels:
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# step through the arm/disarm events in order, to see if they're symmetrical
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# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm,
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# not takeoff+land
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for line, ev in logdata.channels["EV"]["Id"].listData:
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if ev == 10:
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isArmed = True
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elif ev == 11:
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isArmed = False
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if "CTUN" not 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 "BarAlt" in logdata.channels['CTUN']:
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self.ctun_baralt_att = 'BarAlt'
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else:
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self.ctun_baralt_att = 'BAlt'
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# check for relative altitude at end
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(finalAlt, finalAltLine) = logdata.channels["CTUN"][self.ctun_baralt_att].getNearestValue(
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logdata.lineCount, lookForwards=False
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)
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finalAltMax = 3.0 # max alt offset that we'll still consider to be on the ground
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if isArmed and finalAlt > finalAltMax:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Truncated Log? Ends while armed at altitude %.2fm" % finalAlt
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