mirror of https://github.com/ArduPilot/ardupilot
117 lines
5.0 KiB
Python
117 lines
5.0 KiB
Python
from LogAnalyzer import Test,TestResult
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import DataflashLog
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import math
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class TestCompass(Test):
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'''test for compass offsets and throttle interference'''
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def __init__(self):
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self.name = "Compass"
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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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# test that compass offset parameters are within recommended range (+/- 150)
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maxOffset = 150
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if logdata.hardwareType == "PX4":
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maxOffset = 250 # Pixhawks have their offsets scaled larger
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compassOfsX = logdata.parameters["COMPASS_OFS_X"]
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compassOfsY = logdata.parameters["COMPASS_OFS_Y"]
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compassOfsZ = logdata.parameters["COMPASS_OFS_Z"]
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if abs(compassOfsX) > maxOffset or abs(compassOfsY) > maxOffset or abs(compassOfsZ) > maxOffset:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "Large compass off params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (compassOfsX,compassOfsY,compassOfsZ)
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# check for excessive compass offsets using MAG data if present (it can change during flight is compass learn is on)
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if "MAG" in logdata.channels:
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errMsg = ""
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if logdata.channels["MAG"]["OfsX"].max() > maxOffset:
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errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].max()
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err = True
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if logdata.channels["MAG"]["OfsX"].min() < -maxOffset:
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errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].min()
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err = True
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if logdata.channels["MAG"]["OfsY"].max() > maxOffset:
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errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].max()
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err = True
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if logdata.channels["MAG"]["OfsY"].min() < -maxOffset:
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errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].min()
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err = True
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if logdata.channels["MAG"]["OfsZ"].max() > maxOffset:
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errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].max()
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err = True
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if logdata.channels["MAG"]["OfsZ"].min() < -maxOffset:
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errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].min()
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err = True
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if errMsg:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = self.result.statusMessage + "Large compass offset in MAG data:" + errMsg + "\n"
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# check for mag field length change, and length outside of recommended range
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if "MAG" in logdata.channels:
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percentDiffThresholdWARN = 0.25
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percentDiffThresholdFAIL = 0.35
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minMagFieldThreshold = 120.0
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maxMagFieldThreshold = 550.0
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index = 0
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length = len(logdata.channels["MAG"]["MagX"].listData)
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magField = []
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(minMagField, maxMagField) = (None,None)
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(minMagFieldLine, maxMagFieldLine) = (None,None)
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zerosFound = False
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while index<length:
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mx = logdata.channels["MAG"]["MagX"].listData[index][1]
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my = logdata.channels["MAG"]["MagY"].listData[index][1]
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mz = logdata.channels["MAG"]["MagZ"].listData[index][1]
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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?
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zerosFound = True
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else:
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mf = math.sqrt(mx*mx + my*my + mz*mz)
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magField.append(mf)
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if mf<minMagField:
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minMagField = mf
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minMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
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if mf>maxMagField:
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maxMagField = mf
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maxMagFieldLine = logdata.channels["MAG"]["MagX"].listData[index][0]
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if index == 0:
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(minMagField, maxMagField) = (mf,mf)
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index += 1
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percentDiff = (maxMagField-minMagField) / minMagField
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if percentDiff > percentDiffThresholdFAIL:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff*100)
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elif percentDiff > percentDiffThresholdWARN:
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if self.result.status != TestResult.StatusType.FAIL:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = self.result.statusMessage + "Moderate change in mag_field (%.2f%%)\n" % (percentDiff*100)
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else:
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self.result.statusMessage = self.result.statusMessage + "mag_field interference within limits (%.2f%%)\n" % (percentDiff*100)
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if minMagField < minMagFieldThreshold:
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self.result.statusMessage = self.result.statusMessage + "Min mag field length (%.2f) < recommended (%.2f)\n" % (minMagField,minMagFieldThreshold)
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if maxMagField > maxMagFieldThreshold:
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self.result.statusMessage = self.result.statusMessage + "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField,maxMagFieldThreshold)
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if zerosFound:
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if self.result.status != TestResult.StatusType.FAIL:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
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if verbose:
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self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (minMagField,minMagFieldLine)
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self.result.statusMessage = self.result.statusMessage + "Max mag_field of %.2f on line %d\n" % (maxMagField,maxMagFieldLine)
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else:
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self.result.statusMessage = self.result.statusMessage + "No MAG data, unable to test mag_field interference\n"
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