LogAnalyzer: changed command flags a little, tidy, started on TestPitchRollCoupling

Tools/LogAnalyzer/LogAnalyzer.py

@@ -201,17 +201,17 @@ def main():
 	parser = argparse.ArgumentParser(description='Analyze an APM Dataflash log for known issues')
 	parser.add_argument('logfile', type=argparse.FileType('r'), help='path to Dataflash log file')
 	parser.add_argument('-q', '--quiet',  metavar='', action='store_const', const=True, help='quiet mode, do not print results')
-	parser.add_argument('-s', '--stats',  metavar='', action='store_const', const=True, help='output performance stats')
-	parser.add_argument('-i', '--ignore', metavar='', action='store_const', const=True, help='ignore bad data lines')
+	parser.add_argument('-p', '--profile', metavar='', action='store_const', const=True, help='output performance profiling data')
+	parser.add_argument('-s', '--skip_bad', metavar='', action='store_const', const=True, help='skip over corrupt dataflash lines')
 	parser.add_argument('-e', '--empty',  metavar='', action='store_const', const=True, help='run an initial check for an empty log')
 	parser.add_argument('-x', '--xml', type=str, metavar='XML file', nargs='?', const='', default='', help='write output to specified XML file')
 	args = parser.parse_args()
 
 	# load the log
 	startTime = time.time()	
-	logdata = DataflashLog.DataflashLog(args.logfile.name, ignoreBadlines=args.ignore)  # read log
+	logdata = DataflashLog.DataflashLog(args.logfile.name, ignoreBadlines=args.skip_bad)  # read log
 	endTime = time.time()
-	if args.stats:
+	if args.profile:
 		print "Log file read time: %.2f seconds" % (endTime-startTime)
 
 	# check for empty log if requested
@@ -226,12 +226,12 @@ def main():
 	startTime = time.time()	
 	testSuite.run(logdata)  # run tests
 	endTime = time.time()
-	if args.stats:
+	if args.profile:
 		print "Test suite run time: %.2f seconds" % (endTime-startTime)
 
 	# deal with output
 	if not args.quiet:
-		testSuite.outputPlainText(args.stats)
+		testSuite.outputPlainText(args.profile)
 	if args.xml:
 		testSuite.outputXML(args.xml)
 		if not args.quiet:

Tools/LogAnalyzer/tests/TestParams.py

@@ -10,24 +10,25 @@ class TestParams(Test):
 	def __init__(self):
 		self.name = "Parameters"
 
+
+	# helper functions
 	def __checkParamIsEqual(self, paramName, expectedValue, logdata):
 		value = logdata.parameters[paramName]
 		if value != expectedValue:
 			self.result.status = TestResult.StatusType.FAIL
 			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting %s\n" % (paramName, `value`, `expectedValue`)
-
 	def __checkParamIsLessThan(self, paramName, maxValue, logdata):
 		value = logdata.parameters[paramName]
 		if value >= maxValue:
 			self.result.status = TestResult.StatusType.FAIL
 			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting less than %s\n" % (paramName, `value`, `maxValue`)
-			
 	def __checkParamIsMoreThan(self, paramName, minValue, logdata):
 		value = logdata.parameters[paramName]
 		if value <= minValue:
 			self.result.status = TestResult.StatusType.FAIL
 			self.result.extraFeedback = self.result.extraFeedback + "%s set to %s, expecting less than %s\n" % (paramName, `value`, `minValue`)
 
+
 	def run(self, logdata):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS  # PASS by default, tests below will override it if they fail

Tools/LogAnalyzer/tests/TestPitchRollCoupling.py

@@ -15,4 +15,48 @@ class TestPitchRollCoupling(Test):
 		# TODO: implement pitch/roll input/output divergence testing - 
 
 		# note: names changed from PitchIn to DesPitch at some point, check for both
-		
+
+		# what to test for?
+		# - only analyse while we're airborne 
+		# - absolute diff between in+out?
+		# - accumulated diff between in+out?
+		# - slope diff between in+out curves?
+		# - roll/pitch over max in non-acro modes?
+		# - if direct control use CTUN roll+pitch, if auto mode use NTUN data
+
+
+		# figure out where each mode begins and ends, so we can treat auto and manual modes differently
+		# TODO: fill in all known modes here 
+		autoModes   = ["RTL","AUTO","LAND","LOITER"]     # use NTUN DRol+DPit
+		manualModes = ["STABILIZE","DRIFT","ALT_HOLD"]   # use CTUN RollIn/DesRoll + PitchIn/DesPitch
+		acroModes   = ["ACRO","SPORT"]                   # ignore data from acro modes
+		autoSegments   = []  # list of (startLine,endLine) pairs
+		manualSegments = []  # list of (startLine,endLine) pairs
+		orderedModes = collections.OrderedDict(sorted(logdata.modeChanges.items(), key=lambda t: t[0]))
+		isAuto = False # always start in a manual control mode
+		prevLine = 1
+		for line,modepair in orderedModes.iteritems():
+			mode = modepair[0].upper()
+			if mode in autoModes:
+				print "On line %d mode changed to %s (AUTO)" % (line,mode)
+				if not isAuto:
+					manualSegments.append((prevLine,line-1))
+					print "  Previous manual segment: " + `(prevLine,line-1)`
+				isAuto = True
+			elif mode in manualModes:
+				print "On line %d mode changed to %s (MANUAL)" % (line,mode)
+				if isAuto:
+					autoSegments.append((prevLine,line-1))
+					print "  Previous auto segment: " + `(prevLine,line-1)`
+				isAuto = False
+			elif mode in acroModes:
+				pass
+			else:
+				raise Exception("Unknown mode: %s" % mode)
+			prevLine = line
+			if isAuto:
+				autoSegments.append((prevLine,logdata.lineCount))
+				print "  Previous auto segment: " + `(prevLine,logdata.lineCount)`
+			else:
+				manualSegments.append((prevLine,logdata.lineCount))
+				print "  Previous manual segment: " + `(prevLine,logdata.lineCount)`