mirror of https://github.com/ArduPilot/ardupilot
116 lines
4.0 KiB
Python
116 lines
4.0 KiB
Python
from __future__ import print_function
|
|
|
|
from LogAnalyzer import Test,TestResult
|
|
import DataflashLog
|
|
from math import sqrt
|
|
|
|
|
|
class TestIMUMatch(Test):
|
|
'''test for empty or near-empty logs'''
|
|
|
|
def __init__(self):
|
|
Test.__init__(self)
|
|
self.name = "IMU Mismatch"
|
|
|
|
def run(self, logdata, verbose):
|
|
|
|
#tuning parameters:
|
|
warn_threshold = .75
|
|
fail_threshold = 1.5
|
|
filter_tc = 5.0
|
|
|
|
self.result = TestResult()
|
|
self.result.status = TestResult.StatusType.GOOD
|
|
|
|
if ("IMU" in logdata.channels) and (not "IMU2" in logdata.channels):
|
|
self.result.status = TestResult.StatusType.NA
|
|
self.result.statusMessage = "No IMU2"
|
|
return
|
|
|
|
if (not "IMU" in logdata.channels) or (not "IMU2" in logdata.channels):
|
|
self.result.status = TestResult.StatusType.UNKNOWN
|
|
self.result.statusMessage = "No IMU log data"
|
|
return
|
|
|
|
imu1 = logdata.channels["IMU"]
|
|
imu2 = logdata.channels["IMU2"]
|
|
|
|
timeLabel = None
|
|
for i in 'TimeMS','TimeUS','Time':
|
|
if i in logdata.channels["GPS"]:
|
|
timeLabel = i
|
|
break
|
|
imu1_timems = imu1[timeLabel].listData
|
|
imu1_accx = imu1["AccX"].listData
|
|
imu1_accy = imu1["AccY"].listData
|
|
imu1_accz = imu1["AccZ"].listData
|
|
|
|
imu2_timems = imu2[timeLabel].listData
|
|
imu2_accx = imu2["AccX"].listData
|
|
imu2_accy = imu2["AccY"].listData
|
|
imu2_accz = imu2["AccZ"].listData
|
|
|
|
imu_multiplier = 1.0E-3
|
|
if timeLabel == 'TimeUS':
|
|
imu_multiplier = 1.0E-6
|
|
|
|
imu1 = []
|
|
imu2 = []
|
|
|
|
for i in range(len(imu1_timems)):
|
|
imu1.append({ 't': imu1_timems[i][1]*imu_multiplier, 'x': imu1_accx[i][1], 'y': imu1_accy[i][1], 'z': imu1_accz[i][1]})
|
|
|
|
for i in range(len(imu2_timems)):
|
|
imu2.append({ 't': imu2_timems[i][1]*imu_multiplier, 'x': imu2_accx[i][1], 'y': imu2_accy[i][1], 'z': imu2_accz[i][1]})
|
|
|
|
imu1.sort(key=lambda x: x['t'])
|
|
imu2.sort(key=lambda x: x['t'])
|
|
|
|
imu2_index = 0
|
|
|
|
last_t = None
|
|
|
|
xdiff_filtered = 0
|
|
ydiff_filtered = 0
|
|
zdiff_filtered = 0
|
|
max_diff_filtered = 0
|
|
|
|
for i in range(len(imu1)):
|
|
#find closest imu2 value
|
|
t = imu1[i]['t']
|
|
dt = 0 if last_t is None else t-last_t
|
|
dt=min(dt,.1)
|
|
|
|
next_imu2 = None
|
|
for i in range(imu2_index,len(imu2)):
|
|
next_imu2 = imu2[i]
|
|
imu2_index=i
|
|
if next_imu2['t'] >= t:
|
|
break
|
|
prev_imu2 = imu2[imu2_index-1]
|
|
closest_imu2 = next_imu2 if abs(next_imu2['t']-t)<abs(prev_imu2['t']-t) else prev_imu2
|
|
|
|
xdiff = imu1[i]['x']-closest_imu2['x']
|
|
ydiff = imu1[i]['y']-closest_imu2['y']
|
|
zdiff = imu1[i]['z']-closest_imu2['z']
|
|
|
|
xdiff_filtered += (xdiff-xdiff_filtered)*dt/filter_tc
|
|
ydiff_filtered += (ydiff-ydiff_filtered)*dt/filter_tc
|
|
zdiff_filtered += (zdiff-zdiff_filtered)*dt/filter_tc
|
|
|
|
diff_filtered = sqrt(xdiff_filtered**2+ydiff_filtered**2+zdiff_filtered**2)
|
|
max_diff_filtered = max(max_diff_filtered,diff_filtered)
|
|
#print(max_diff_filtered)
|
|
last_t = t
|
|
|
|
if max_diff_filtered > fail_threshold:
|
|
self.result.statusMessage = "Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold,fail_threshold)
|
|
self.result.status = TestResult.StatusType.FAIL
|
|
elif max_diff_filtered > warn_threshold:
|
|
self.result.statusMessage = "Check vibration or accelerometer calibration. (Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold,fail_threshold)
|
|
self.result.status = TestResult.StatusType.WARN
|
|
else:
|
|
self.result.statusMessage = "(Mismatch: %.2f, WARN: %.2f, FAIL: %.2f)" % (max_diff_filtered,warn_threshold, fail_threshold)
|
|
|
|
|