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75 lines
2.7 KiB
75 lines
2.7 KiB
11 years ago
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from LogAnalyzer import Test,TestResult
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import DataflashLog
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class TestAutotune(Test):
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'''test for autotune success (copter only)'''
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def __init__(self):
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# Test.__init__(self)
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self.name = "Autotune"
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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 != "ArduCopter":
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self.result.status = TestResult.StatusType.NA
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return
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for i in ['EV','ATDE','ATUN']:
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r = False
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if not i in logdata.channels:
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self.result.status = TestResult.StatusType.UNKNOWN
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self.result.statusMessage = "No {} log data".format(i)
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r = True
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if r:
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return
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for line,ev in logdata.channels["EV"]["Id"].listData:
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if ev != 30: # Autotune Start
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continue
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nextline = startline = line
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nextev = -1
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while nextev not in(35,34):
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try:
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(nextev,nextline) = logdata.channels["EV"]["Id"].getNearestValueFwd(nextline+1)
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except:
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break
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if nextev not in(35,34): # autotune is still running
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continue
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if nextev == 34: # autotune failed
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self.result.status = TestResult.StatusType.FAIL
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s = "[-]"
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else:
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self.result.status = TestResult.StatusType.GOOD
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s = "[+]"
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# this should not be necessary!
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def class_from_channel(c):
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members = dict({'__init__':lambda x: setattr(x,i,None) for i in logdata.channels[c]})
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cls = type(\
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'Channel__{:s}'.format(c),
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(object,),
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members
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)
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return cls
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atde = class_from_channel('ATDE')()
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for key in logdata.channels['ATDE']:
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setattr(atde, key, logdata.channels['ATDE'][key].getNearestValueBack(nextline)[0])
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atun = class_from_channel('ATUN')()
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for key in logdata.channels['ATUN']:
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setattr(atun, key, logdata.channels['ATUN'][key].getNearestValueBack(nextline)[0])
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self.result.statusMessage += '{s} ATDE Angle:{atde.Angle} Rate:{atde.Rate} ATUN RPGain:{atun.RPGain} RDGain:{atun.RDGain} SPGain:{atun.SPGain} (@line:{l})\n'.format(l=nextline,s=s,atde=atde, atun=atun)
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if nextev not in(35,34):
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self.result.statusMessage += "incomplete autotune attempt started @{l}\n".format(l=startline)
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