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71 lines
2.5 KiB
71 lines
2.5 KiB
from LogAnalyzer import Test,TestResult |
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import DataflashLog |
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from VehicleType import VehicleType |
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class TestBalanceTwist(Test): |
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'''test for badly unbalanced copter, including yaw twist''' |
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def __init__(self): |
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Test.__init__(self) |
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self.name = "Motor Balance" |
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def run(self, logdata, verbose): |
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self.result = TestResult() |
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self.result.status = TestResult.StatusType.GOOD |
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if logdata.vehicleType != VehicleType.Copter: |
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self.result.status = TestResult.StatusType.NA |
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return |
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self.result.status = TestResult.StatusType.UNKNOWN |
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if not "RCOU" in logdata.channels: |
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return |
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ch = [] |
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for i in range(8): |
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for prefix in "Chan", "Ch", "C": |
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if prefix+repr((i+1)) in logdata.channels["RCOU"]: |
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ch.append(map(lambda x: x[1], logdata.channels["RCOU"][prefix+repr((i+1))].listData)) |
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ch = zip(*ch) |
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num_channels = 0 |
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ch = list(ch) |
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for i in range(len(ch)): |
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ch[i] = list(filter(lambda x: (x>0 and x<3000), ch[i])) |
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if num_channels < len(ch[i]): |
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num_channels = len(ch[i]) |
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if logdata.frame: |
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num_channels = logdata.num_motor_channels() |
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if num_channels < 2: |
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return |
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try: |
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min_throttle = logdata.parameters["RC3_MIN"] + logdata.parameters["THR_MIN"] / (logdata.parameters["RC3_MAX"]-logdata.parameters["RC3_MIN"])/1000.0 |
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except KeyError as e: |
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min_throttle = logdata.parameters["MOT_PWM_MIN"] / (logdata.parameters["MOT_PWM_MAX"]-logdata.parameters["RC3_MIN"])/1000.0 |
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ch = list(filter(lambda x:sum(x)/num_channels > min_throttle, ch)) |
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if len(ch) == 0: |
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return |
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avg_sum = 0 |
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avg_ch = [] |
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for i in range(num_channels): |
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avg = list(map(lambda x: x[i],ch)) |
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avg = sum(avg)/len(avg) |
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avg_ch.append(avg) |
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avg_sum += avg |
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avg_all = avg_sum / num_channels |
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self.result.statusMessage = "Motor channel averages = %s\nAverage motor output = %.0f\nDifference between min and max motor averages = %.0f" % (str(avg_ch),avg_all,abs(min(avg_ch)-max(avg_ch))) |
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self.result.status = TestResult.StatusType.GOOD |
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if abs(min(avg_ch)-max(avg_ch)) > 75: |
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self.result.status = TestResult.StatusType.WARN |
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if abs(min(avg_ch)-max(avg_ch)) > 150: |
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self.result.status = TestResult.StatusType.FAIL
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