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Tools: Fix EKF data analysis false positives 

The high frequency acceleration noise levels in the gazebo models and also seen on some hardware is causing the IMU vibration check warning to fail.

The thresholds have been lifted and the reporting improved to make it clearer which sensor noise is causing the failure.
This commit is contained in:
Paul Riseborough 2018-08-30 08:01:41 +10:00 committed by Lorenz Meier
parent ca446982ab
commit 94d953eef2
2 changed files with 16 additions and 8 deletions
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20
Tools/ecl_ekf/analyse_logdata_ekf.py
View File

@ -1303,15 +1303,23 @@ def analyse_ekf(estimator_status, ekf2_innovations, sensor_preflight, check_leve
test_results['tas_sensor_status'][0] = 'Warning'
# check for IMU sensor warnings
if ((test_results.get('imu_coning_peak')[0] > check_levels.get('imu_coning_peak_warn')) or
(test_results.get('imu_coning_mean')[0] > check_levels.get('imu_coning_mean_warn')) or
(test_results.get('imu_hfdang_peak')[0] > check_levels.get('imu_hfdang_peak_warn')) or
(test_results.get('imu_hfdang_mean')[0] > check_levels.get('imu_hfdang_mean_warn')) or
(test_results.get('imu_hfdvel_peak')[0] > check_levels.get('imu_hfdvel_peak_warn')) or
(test_results.get('imu_coning_mean')[0] > check_levels.get('imu_coning_mean_warn'))):
test_results['master_status'][0] = 'Warning'
test_results['imu_sensor_status'][0] = 'Warning'
test_results['imu_vibration_check'][0] = 'Warning'
print('IMU gyro coning check warning.')
if ((test_results.get('imu_hfdang_peak')[0] > check_levels.get('imu_hfdang_peak_warn')) or
(test_results.get('imu_hfdang_mean')[0] > check_levels.get('imu_hfdang_mean_warn'))):
test_results['master_status'][0] = 'Warning'
test_results['imu_sensor_status'][0] = 'Warning'
test_results['imu_vibration_check'][0] = 'Warning'
print('IMU gyro vibration check warning.')
if ((test_results.get('imu_hfdvel_peak')[0] > check_levels.get('imu_hfdvel_peak_warn')) or
(test_results.get('imu_hfdvel_mean')[0] > check_levels.get('imu_hfdvel_mean_warn'))):
test_results['master_status'][0] = 'Warning'
test_results['imu_sensor_status'][0] = 'Warning'
test_results['imu_vibration_check'][0] = 'Warning'
print('IMU vibration check warning.')
print('IMU accel vibration check warning.')
if ((test_results.get('imu_dang_bias_median')[0] > check_levels.get('imu_dang_bias_median_warn')) or
(test_results.get('imu_dvel_bias_median')[0] > check_levels.get('imu_dvel_bias_median_warn'))):
test_results['master_status'][0] = 'Warning'
@ -1371,4 +1379,4 @@ def analyse_ekf(estimator_status, ekf2_innovations, sensor_preflight, check_leve
test_results['master_status'][0] = 'Fail'
test_results['filter_fault_status'][0] = 'Fail'
return test_results
return test_results

4
Tools/ecl_ekf/check_level_dict.csv
View File

@ -22,8 +22,8 @@ imu_coning_peak_warn,1.8E-5
imu_coning_mean_warn,3.6E-6
imu_hfdang_peak_warn,3.0E-3
imu_hfdang_mean_warn,6.0E-4
imu_hfdvel_peak_warn,1.8E-2
imu_hfdvel_mean_warn,3.6E-3
imu_hfdvel_peak_warn,9.0E-2
imu_hfdvel_mean_warn,1.8E-2
obs_ang_err_median_warn,8.0E-3
obs_vel_err_median_warn,0.05
obs_pos_err_median_warn,0.15

1 mag_fail_pct 0.0
22 imu_coning_mean_warn 3.6E-6
23 imu_hfdang_peak_warn 3.0E-3
24 imu_hfdang_mean_warn 6.0E-4
25 imu_hfdvel_peak_warn 1.8E-2 9.0E-2
26 imu_hfdvel_mean_warn 3.6E-3 1.8E-2
27 obs_ang_err_median_warn 8.0E-3
28 obs_vel_err_median_warn 0.05
29 obs_pos_err_median_warn 0.15