LogAnalyzer: added 'import collections', allowed for some AC3.2 logging changes

Tools/LogAnalyzer/DataflashLog.py

@@ -297,6 +297,17 @@ class DataflashLog:
 					continue
 				if line == "----------------------------------------":  # present in pre-3.0 logs
 					raise Exception("Log file seems to be in the older format (prior to self-describing logs), which isn't supported")
+				# Some logs are missing the initial dataflash header which says the log index and the type of log, but we can catch the vehicle
+				# type here too in the MSG line
+				if not self.vehicleType and tokens[0] == "MSG":
+					tokens2 = line.split(' ')
+					vehicleTypes = ["ArduPlane", "ArduCopter", "ArduRover"]
+					if tokens2[1] in vehicleTypes and tokens2[2][0].lower() == "v":
+						self.vehicleType = tokens2[1]
+						self.firmwareVersion = tokens2[1]
+						if len(tokens2) == 3:
+							self.firmwareHash    = tokens2[2][1:-1]
+					continue
 				if len(tokens) == 1:
 					tokens2 = line.split(' ')
 					if line == "":

Tools/LogAnalyzer/tests/TestBalanceTwist.py

@@ -15,5 +15,6 @@ class TestBalanceTwist(Test):
 
 		if logdata.vehicleType != "ArduCopter":
 			self.result.status = TestResult.StatusType.NA
+			return
 
 		# TODO: implement copter test for unbalanced or twisted copter frame

Tools/LogAnalyzer/tests/TestPitchRollCoupling.py

@@ -1,6 +1,8 @@
 from LogAnalyzer import Test,TestResult
 import DataflashLog
 
+import collections
+
 
 class TestPitchRollCoupling(Test):
 	'''test for divergence between input and output pitch/roll, i.e. mechanical failure or bad PID tuning'''
@@ -25,7 +27,7 @@ class TestPitchRollCoupling(Test):
 
 		# figure out where each mode begins and ends, so we can treat auto and manual modes differently and ignore acro/tune modes
 		autoModes   = ["RTL","AUTO","LAND","LOITER","GUIDED","CIRCLE","OF_LOITER"]     # use NTUN DRol+DPit
-		manualModes = ["STABILIZE","DRIFT","ALT_HOLD"]                                 # use CTUN RollIn/DesRoll + PitchIn/DesPitch
+		manualModes = ["STABILIZE","DRIFT","ALTHOLD","ALT_HOLD"]                                 # use CTUN RollIn/DesRoll + PitchIn/DesPitch
 		ignoreModes = ["ACRO","SPORT","FLIP","AUTOTUNE"]                               # ignore data from these modes
 		autoSegments   = []  # list of (startLine,endLine) pairs
 		manualSegments = []  # list of (startLine,endLine) pairs

Tools/LogAnalyzer/tests/TestUnderpowered.py

@@ -55,11 +55,15 @@ class TestUnderpowered(Test):
 					highThrottleSegments.append((start,i))
 				start = None
 
-		# loop through each checking CTUN.CRate, if < 50 FAIL, if < 100 WARN
-		# TODO: we should filter CRate and use its slope rather than value for this test
+		climbRate = "CRate"
+		if "CRate" not in logdata.channels["CTUN"]:
+			climbRate = "CRt"
+
+		# loop through each checking climbRate, if < 50 FAIL, if < 100 WARN
+		# TODO: we should filter climbRate and use its slope rather than value for this test
 		for seg in highThrottleSegments:
 			(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
-			avgClimbRate = logdata.channels["CTUN"]["CRate"].getSegment(startLine,endLine).avg()
+			avgClimbRate = logdata.channels["CTUN"][climbRate].getSegment(startLine,endLine).avg()
 			avgThrOut    = logdata.channels["CTUN"]["ThrOut"].getSegment(startLine,endLine).avg()
 			if avgClimbRate < climbThresholdFAIL:
 				self.result.status = TestResult.StatusType.FAIL