ardupilot/Tools/LogAnalyzer/tests/TestCompass.py

162 lines
7.2 KiB
Python

# AP_FLAKE8_CLEAN
import math
from functools import reduce
from LogAnalyzer import Test, TestResult
class TestCompass(Test):
'''test for compass offsets and throttle interference'''
def __init__(self):
Test.__init__(self)
self.name = "Compass"
def run(self, logdata, verbose):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
def vec_len(x):
return math.sqrt(x[0] ** 2 + x[1] ** 2 + x[2] ** 2)
def FAIL():
self.result.status = TestResult.StatusType.FAIL
def WARN():
if self.result.status != TestResult.StatusType.FAIL:
self.result.status = TestResult.StatusType.WARN
try:
warnOffset = 300
failOffset = 500
param_offsets = (
logdata.parameters["COMPASS_OFS_X"],
logdata.parameters["COMPASS_OFS_Y"],
logdata.parameters["COMPASS_OFS_Z"],
)
if vec_len(param_offsets) > failOffset:
FAIL()
self.result.statusMessage = "FAIL: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
param_offsets[0],
param_offsets[1],
param_offsets[2],
)
elif vec_len(param_offsets) > warnOffset:
WARN()
self.result.statusMessage = "WARN: Large compass offset params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
param_offsets[0],
param_offsets[1],
param_offsets[2],
)
if "MAG" in logdata.channels:
max_log_offsets = zip(
map(lambda x: x[1], logdata.channels["MAG"]["OfsX"].listData),
map(lambda x: x[1], logdata.channels["MAG"]["OfsY"].listData),
map(lambda x: x[1], logdata.channels["MAG"]["OfsZ"].listData),
)
max_log_offsets = reduce(lambda x, y: x if vec_len(x) > vec_len(y) else y, max_log_offsets)
if vec_len(max_log_offsets) > failOffset:
FAIL()
self.result.statusMessage += "FAIL: Large compass offset in MAG data (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
max_log_offsets[0],
max_log_offsets[1],
max_log_offsets[2],
)
elif vec_len(max_log_offsets) > warnOffset:
WARN()
self.result.statusMessage += "WARN: Large compass offset in MAG data (X:%.2f, Y:%.2f, Z:%.2f)\n" % (
max_log_offsets[0],
max_log_offsets[1],
max_log_offsets[2],
)
# check for mag field length change, and length outside of recommended range
if "MAG" in logdata.channels:
percentDiffThresholdWARN = 0.25
percentDiffThresholdFAIL = 0.35
minMagFieldThreshold = 120.0
maxMagFieldThreshold = 550.0
index = 0
length = len(logdata.channels["MAG"]["MagX"].listData)
magField = []
(minMagField, maxMagField) = (None, None)
(minMagFieldLine, maxMagFieldLine) = (None, None)
zerosFound = False
while index < length:
mx = logdata.channels["MAG"]["MagX"].listData[index][1]
my = logdata.channels["MAG"]["MagY"].listData[index][1]
mz = logdata.channels["MAG"]["MagZ"].listData[index][1]
if (
(mx == 0) and (my == 0) and (mz == 0)
): # sometimes they're zero, not sure why, same reason as why we get NaNs as offsets?
zerosFound = True
else:
mf = math.sqrt(mx * mx + my * my + mz * mz)
magField.append(mf)
if mf < minMagField:
minMagField = mf
minMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
if mf > maxMagField:
maxMagField = mf
maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
if index == 0:
(minMagField, maxMagField) = (mf, mf)
index += 1
if minMagField is None:
FAIL()
self.result.statusMessage = self.result.statusMessage + "No valid mag data found\n"
else:
percentDiff = (maxMagField - minMagField) / minMagField
if percentDiff > percentDiffThresholdFAIL:
FAIL()
self.result.statusMessage = (
self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff * 100)
)
elif percentDiff > percentDiffThresholdWARN:
WARN()
self.result.statusMessage = (
self.result.statusMessage + "Moderate change in mag_field (%.2f%%)\n" % (percentDiff * 100)
)
else:
self.result.statusMessage = (
self.result.statusMessage
+ "mag_field interference within limits (%.2f%%)\n" % (percentDiff * 100)
)
if minMagField < minMagFieldThreshold:
self.result.statusMessage = (
self.result.statusMessage
+ "Min mag field length (%.2f) < recommended (%.2f)\n" % (minMagField, minMagFieldThreshold)
)
if maxMagField > maxMagFieldThreshold:
self.result.statusMessage = (
self.result.statusMessage
+ "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField, maxMagFieldThreshold)
)
if verbose:
self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (
minMagField,
minMagFieldLine,
)
self.result.statusMessage = self.result.statusMessage + "Max mag_field of %.2f on line %d\n" % (
maxMagField,
maxMagFieldLine,
)
if zerosFound:
if self.result.status == TestResult.StatusType.GOOD:
WARN()
self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
else:
self.result.statusMessage = (
self.result.statusMessage + "No MAG data, unable to test mag_field interference\n"
)
except KeyError as e:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = str(e) + ' not found'