forked from Archive/PX4-Autopilot
49 lines
1.7 KiB
Python
49 lines
1.7 KiB
Python
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#! /usr/bin/env python3
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"""
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function collection for handling different versions of log files
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"""
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from pyulog import ULog
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from analysis.detectors import PreconditionError
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def get_output_tracking_error_message(ulog: ULog) -> str:
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"""
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return the name of the message containing the output_tracking_error
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:param ulog:
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:return: str
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"""
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for elem in ulog.data_list:
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if elem.name == "ekf2_innovations":
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return "ekf2_innovations"
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if elem.name == "estimator_innovations":
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return "estimator_status"
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raise PreconditionError("Could not detect the message containing the output tracking error")
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def get_innovation_message(ulog: ULog, topic: str = 'innovation') -> str:
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"""
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return the name of the innovation message (old: ekf2_innovations; new: estimator_innovations)
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:param ulog:
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:return: str
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"""
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if topic == 'innovation':
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for elem in ulog.data_list:
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if elem.name == "ekf2_innovations":
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return "ekf2_innovations"
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if elem.name == "estimator_innovations":
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return "estimator_innovations"
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if topic == 'innovation_variance':
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for elem in ulog.data_list:
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if elem.name == "ekf2_innovations":
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return "ekf2_innovations"
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if elem.name == "estimator_innovations":
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return "estimator_innovations"
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if topic == 'innovation_test_ratio':
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for elem in ulog.data_list:
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if elem.name == "ekf2_innovations":
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return "ekf2_innovations"
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if elem.name == "estimator_innovations":
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return "estimator_innovations"
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raise PreconditionError("Could not detect the message")
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