ardupilot/Tools/LogAnalyzer/tests/TestGPSGlitch.py

57 lines
2.3 KiB
Python

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