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LogAnalyzer: updated testCompass to match our prearm check

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This commit is contained in:
Jonathan Challinger 2014-10-25 14:30:52 -07:00 committed by Randy Mackay
parent 0955284d7e
commit a62f1f0f48
1 changed files with 41 additions and 39 deletions
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80
Tools/LogAnalyzer/tests/TestCompass.py
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@ -15,42 +15,46 @@ class TestCompass(Test):
self.result = TestResult()
self.result.status = TestResult.StatusType.GOOD
try:
# test that compass offset parameters are within recommended range (+/- 150)
maxOffset = 150
if logdata.hardwareType == "PX4":
maxOffset = 250 # Pixhawks have their offsets scaled larger
compassOfsX = logdata.parameters["COMPASS_OFS_X"]
compassOfsY = logdata.parameters["COMPASS_OFS_Y"]
compassOfsZ = logdata.parameters["COMPASS_OFS_Z"]
if abs(compassOfsX) > maxOffset or abs(compassOfsY) > maxOffset or abs(compassOfsZ) > maxOffset:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = "Large compass off params (X:%.2f, Y:%.2f, Z:%.2f)\n" % (compassOfsX,compassOfsY,compassOfsZ)
def vec_len(x):
return 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])
# check for excessive compass offsets using MAG data if present (it can change during flight is compass learn is on)
if "MAG" in logdata.channels:
errMsg = ""
if logdata.channels["MAG"]["OfsX"].max() > maxOffset:
errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].max()
err = True
if logdata.channels["MAG"]["OfsX"].min() < -maxOffset:
errMsg = errMsg + "\nX: %.2f" % logdata.channels["MAG"]["OfsX"].min()
err = True
if logdata.channels["MAG"]["OfsY"].max() > maxOffset:
errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].max()
err = True
if logdata.channels["MAG"]["OfsY"].min() < -maxOffset:
errMsg = errMsg + "\nY: %.2f" % logdata.channels["MAG"]["OfsY"].min()
err = True
if logdata.channels["MAG"]["OfsZ"].max() > maxOffset:
errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].max()
err = True
if logdata.channels["MAG"]["OfsZ"].min() < -maxOffset:
errMsg = errMsg + "\nZ: %.2f" % logdata.channels["MAG"]["OfsZ"].min()
err = True
if errMsg:
self.result.status = TestResult.StatusType.FAIL
self.result.statusMessage = self.result.statusMessage + "Large compass offset in MAG data:" + errMsg + "\n"
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:
@ -84,11 +88,10 @@ class TestCompass(Test):
index += 1
percentDiff = (maxMagField-minMagField) / minMagField
if percentDiff > percentDiffThresholdFAIL:
self.result.status = TestResult.StatusType.FAIL
FAIL()
self.result.statusMessage = self.result.statusMessage + "Large change in mag_field (%.2f%%)\n" % (percentDiff*100)
elif percentDiff > percentDiffThresholdWARN:
if self.result.status != TestResult.StatusType.FAIL:
self.result.status = TestResult.StatusType.WARN
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)
@ -97,8 +100,7 @@ class TestCompass(Test):
if maxMagField > maxMagFieldThreshold:
self.result.statusMessage = self.result.statusMessage + "Max mag field length (%.2f) > recommended (%.2f)\n" % (maxMagField,maxMagFieldThreshold)
if zerosFound:
if self.result.status != TestResult.StatusType.FAIL:
self.result.status = TestResult.StatusType.WARN
WARN()
self.result.statusMessage = self.result.statusMessage + "All zeros found in MAG X/Y/Z log data\n"
if verbose:
self.result.statusMessage = self.result.statusMessage + "Min mag_field of %.2f on line %d\n" % (minMagField,minMagFieldLine)