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ekf2: process_logdata_ekf.py fix reject_mag* and imu_coning* key errors

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Sean Murphy 2023-06-21 21:08:43 -04:00 committed by GitHub
parent a07d10704b
commit 7ed90c6d0c
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 12 additions and 9 deletions
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13
Tools/ecl_ekf/analysis/checks.py
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@ -56,11 +56,14 @@ def perform_imu_checks(
# perform the vibration check
imu_status['imu_vibration_check'] = 'Pass'
for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
mean_metric = '{:s}_mean'.format(imu_vibr_metric)
peak_metric = '{:s}_peak'.format(imu_vibr_metric)
if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
imu_status['imu_vibration_check'] = 'Warning'
mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
mean_key = '{:s}_mean'.format(imu_vibr_metric)
peak_key = '{:s}_peak'.format(imu_vibr_metric)
if mean_key in imu_metrics and peak_key in imu_metrics:
if imu_metrics[mean_key] > check_levels[mean_metric] \
or imu_metrics[peak_key] > check_levels[peak_metric]:
imu_status['imu_vibration_check'] = 'Warning'
if imu_status['imu_vibration_check'] == 'Warning':
print('IMU vibration check warning.')

6
Tools/ecl_ekf/analysis/metrics.py
View File

@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(
# calculate innovation check fail metrics
for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
('magx', 'reject_mag_x', 'magx_fail_percentage'),
('magy', 'reject_mag_y', 'magy_fail_percentage'),
('magz', 'reject_mag_z', 'magz_fail_percentage'),
('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
('yaw', 'reject_yaw', 'yaw_fail_percentage'),
('velh', 'reject_hor_vel', 'vel_fail_percentage'),
('velv', 'reject_ver_vel', 'vel_fail_percentage'),

2
Tools/ecl_ekf/plotting/pdf_report.py
View File

@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
data_plot = CheckFlagsPlot(
status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
'reject_hagl'],
['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
['reject_optflow_x',
'reject_optflow_y']], x_label='time (sec)',