mirror of https://github.com/ArduPilot/ardupilot
57 lines
2.3 KiB
Python
57 lines
2.3 KiB
Python
from LogAnalyzer import Test,TestResult
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import DataflashLog
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class TestGPSGlitch(Test):
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'''test for GPS glitch reporting or bad GPS data (satellite count, hdop)'''
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def __init__(self):
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Test.__init__(self)
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self.name = "GPS"
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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 "GPS" not in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No GPS log data"
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return
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# 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
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gpsGlitchCount = 0
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if "ERR" in logdata.channels:
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assert(len(logdata.channels["ERR"]["Subsys"].listData) == len(logdata.channels["ERR"]["ECode"].listData))
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for i in range(len(logdata.channels["ERR"]["Subsys"].listData)):
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subSys = logdata.channels["ERR"]["Subsys"].listData[i][1]
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eCode = logdata.channels["ERR"]["ECode"].listData[i][1]
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if subSys == 11 and (eCode == 2):
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gpsGlitchCount += 1
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if gpsGlitchCount:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = "GPS glitch errors found (%d)" % gpsGlitchCount
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# define and check different thresholds for WARN level and FAIL level
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# TODO: for plane, only check after first instance of throttle > 0, or after takeoff if we can reliably detect it
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minSatsWARN = 6
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minSatsFAIL = 5
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maxHDopWARN = 3.0
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maxHDopFAIL = 10.0
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foundBadSatsWarn = logdata.channels["GPS"]["NSats"].min() < minSatsWARN
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foundBadHDopWarn = logdata.channels["GPS"]["HDop"].max() > maxHDopWARN
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foundBadSatsFail = logdata.channels["GPS"]["NSats"].min() < minSatsFAIL
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foundBadHDopFail = logdata.channels["GPS"]["HDop"].max() > maxHDopFAIL
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satsMsg = "Min satellites: %s, Max HDop: %s" % (logdata.channels["GPS"]["NSats"].min(), logdata.channels["GPS"]["HDop"].max())
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if gpsGlitchCount:
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self.result.statusMessage = self.result.statusMessage + "\n" + satsMsg
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if foundBadSatsFail or foundBadHDopFail:
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if not gpsGlitchCount:
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self.result.status = TestResult.StatusType.FAIL
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self.result.statusMessage = satsMsg
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elif foundBadSatsWarn or foundBadHDopWarn:
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if not gpsGlitchCount:
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self.result.status = TestResult.StatusType.WARN
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self.result.statusMessage = satsMsg
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