LogAnalyzer: fixed plane+rover parsing, added test for underpowered copters

Tools/LogAnalyzer/DataflashLog.py

@@ -10,6 +10,8 @@
 import pprint  # temp
 import collections
 import os
+import numpy
+
 
 class Format:
 	'''Channel format as specified by the FMT lines in the log file'''
@@ -30,6 +32,7 @@ class Format:
 
 class Channel:
 	'''storage for a single stream of data, i.e. all GPS.RelAlt values'''
+	# TODO: store data as a curve so we can more easily interpolate and sample the slope
 	dictData = None #  dict of linenum->value      # store dupe data in dict and list for now, until we decide which is the better way to go
 	listData = None #  list of (linenum,value)
 	def __init__(self):
@@ -45,11 +48,11 @@ class Channel:
 	def max(self):
 		return max(self.dictData.values())
 	def avg(self):
-		return avg(self.dictData.values())
+		return numpy.mean(self.dictData.values())
 	def getNearestValue(self, lineNumber, lookForwards=True):
-		'''return the nearest data value to the given lineNumber'''
+		'''find the nearest data value to the given lineNumber, defaults to looking forwards. Returns (value,lineNumber)'''
 		if lineNumber in self.dictData:
-			return self.dictData[lineNumber]
+			return (self.dictData[lineNumber], lineNumber)
 		offset = 1
 		if not lookForwards:
 			offset = -1
@@ -59,9 +62,16 @@ class Channel:
 		line = min(maxLine,line)
 		while line >= minLine and line <= maxLine:
 			if line in self.dictData:
-				return self.dictData[line]
+				return (self.dictData[line], line)
 			line = line + offset
 		raise Exception("Error finding nearest value for line %d" % lineNumber)
+	def getInterpolatedValue(self, lineNumber):
+		(prevValue,prevValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
+		(nextValue,nextValueLine) = self.getNearestValue(lineNumber, lookForwards=False)
+		if prevValueLine == nextValueLine:
+			return prevValue
+		weight = (lineNumber-prevValueLine) / float(nextValueLine-prevValueLine)
+		return ((weight*prevValue) + ((1-weight)*nextValue))
 
 
 class DataflashLogHelper:
@@ -116,7 +126,9 @@ class DataflashLogHelper:
 	def isLogEmpty(logdata):
 		'''returns an human readable error string if the log is essentially empty, otherwise returns None'''
 		# naive check for now, see if the throttle output was ever above 20%
-		throttleThreshold = 200
+		throttleThreshold = 20
+		if logdata.vehicleType == "ArduCopter":
+			throttleThreshold = 200 # copter uses 0-1000, plane+rover use 0-100
 		if "CTUN" in logdata.channels:
 			maxThrottle = logdata.channels["CTUN"]["ThrOut"].max()
 			if maxThrottle < throttleThreshold:
@@ -126,6 +138,8 @@ class DataflashLogHelper:
 
 class DataflashLog:
 	'''APM Dataflash log file reader and container class. Keep this simple, add more advanced or specific functions to DataflashLogHelper class'''
+	# TODO: implement some kind of iterator or different data storage approeach where we can step through the log by time/line and easily access, interpolate and cross-reference values from all channels at that point
+
 	filename = None
 
 	vehicleType     = "" # ArduCopter, ArduPlane, ArduRover, etc, verbatim as given by header
@@ -196,6 +210,8 @@ class DataflashLog:
 				if copterLogPre3Header and line[0:15] == "SYSID_SW_MREV: ":
 					copterLogPre3Header = False
 					copterLogPre3Params = True
+				if line == " Ready to drive." or line == " Ready to FLY.":
+					continue
 				if len(tokens) == 1:
 					tokens2 = line.split(' ')
 					if line == "":
@@ -210,7 +226,7 @@ class DataflashLog:
 						copterLogPre3Header = True
 					elif copterLogPre3Header:
 						pass   # just skip over all that until we hit the PARM lines
-					elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0] == "V":  # e.g. ArduCopter V3.1 (5c6503e2)
+					elif (len(tokens2) == 2 or len(tokens2) == 3) and tokens2[1][0].lower() == "v":  # e.g. ArduCopter V3.1 (5c6503e2)
 						self.vehicleType     = tokens2[0]
 						self.firmwareVersion = tokens2[1]
 						if len(tokens2) == 3:
@@ -241,7 +257,12 @@ class DataflashLog:
 				elif tokens[0] == "MSG":
 					self.messages[lineNumber] = tokens[1]
 				elif tokens[0] == "MODE":
-					self.modeChanges[lineNumber] = (tokens[1],int(tokens[2]))
+					if self.vehicleType == "ArduCopter":
+						self.modeChanges[lineNumber] = (tokens[1],int(tokens[2]))
+					elif self.vehicleType == "ArduPlane" or self.vehicleType == "ArduRover":
+						self.modeChanges[lineNumber] = (tokens[2],int(tokens[3]))
+					else:
+						raise Exception("Unknown log type for MODE line")
 				# anything else must be the log data
 				elif not copterLogPre3Header:
 					groupName = tokens[0]

Tools/LogAnalyzer/LogAnalyzer.py

@@ -11,6 +11,8 @@
 #   - Pixhawk doesn't output one of the FMT labels... forget which one
 #   - MAG offsets seem to be constant (only seen data on Pixhawk)
 #   - MAG offsets seem to be cast to int before being output? (param is -84.67, logged as -84)
+#   - copter+plane use 'V' in their vehicle type/version/build line, rover uses lower case 'v'. Copter+Rover give a build number, plane does not
+#   - CTUN.ThrOut on copter is 0-1000, on plane+rover it is 0-100
 
 # TODO - unify result statusMessage and extraOutput. simple tests set statusMessage, complex ones append to it with newlines
 

Tools/LogAnalyzer/logs/nan.log

@@ -1,3 +1,5 @@
+ArduCopter V3.1
+
 FMT, 128, 89, FMT, BBnNZ, Type,Length,Name,Format
 FMT, 129, 23, PARM, Nf, Name,Value
 FMT, 130, 45, GPS, BIHBcLLeeEefI, Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T

Tools/LogAnalyzer/tests/TestBrownout.py

@@ -13,20 +13,26 @@ class TestBrownout(Test):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
-		# step through the arm/disarm events in order, to see if they're symmetrical
+		if "EV" in logdata.channels:
-		# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm, not takeoff+land
+			# step through the arm/disarm events in order, to see if they're symmetrical
-		evData = logdata.channels["EV"]["Id"]
+			# note: it seems landing detection isn't robust enough to rely upon here, so we'll only consider arm+disarm, not takeoff+land
-		orderedEVData = collections.OrderedDict(sorted(evData.dictData.items(), key=lambda t: t[0]))
+			evData = logdata.channels["EV"]["Id"]
-		isArmed = False
+			orderedEVData = collections.OrderedDict(sorted(evData.dictData.items(), key=lambda t: t[0]))
-		for line,ev in orderedEVData.iteritems():
+			isArmed = False
-			if ev == 10:
+			for line,ev in orderedEVData.iteritems():
-				isArmed = True
+				if ev == 10:
-			elif ev == 11:
+					isArmed = True
-				isArmed = False
+				elif ev == 11:
+					isArmed = False
+
+		if "CTUN" not in logdata.channels:
+			self.result.status = TestResult.StatusType.UNKNOWN
+			self.result.statusMessage = "No CTUN log data"
+			return
 
 		# check for relative altitude at end
 		if "CTUN" in logdata.channels and "BarAlt" in logdata.channels["CTUN"]:
-			finalAlt = logdata.channels["CTUN"]["BarAlt"].getNearestValue(logdata.lineCount, lookForwards=False)
+			(finalAlt,finalAltLine) = logdata.channels["CTUN"]["BarAlt"].getNearestValue(logdata.lineCount, lookForwards=False)
 
 			finalAltMax = 3.0   # max alt offset that we'll still consider to be on the ground
 			if isArmed and finalAlt > finalAltMax:

Tools/LogAnalyzer/tests/TestGPSGlitch.py

@@ -13,7 +13,7 @@ class TestGPSGlitch(Test):
 		self.result.status = TestResult.StatusType.PASS
 
 		if "GPS" not in logdata.channels:
-			self.result.status = TestResult.StatusType.FAIL
+			self.result.status = TestResult.StatusType.UNKNOWN
 			self.result.statusMessage = "No GPS log data"
 			return
 

Tools/LogAnalyzer/tests/TestPerformance.py

@@ -6,12 +6,16 @@ class TestPerformance(Test):
 	'''check performance monitoring messages (PM) for issues with slow loops, etc'''
 
 	def __init__(self):
-		self.name = "Performance"
+		self.name = "PM"
 
 	def run(self, logdata):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
+		if logdata.vehicleType != "ArduCopter":
+			self.result.status = TestResult.StatusType.NA
+			return
+
 		# NOTE: we'll ignore MaxT altogether for now, it seems there are quite regularly one or two high values in there, even ignoring the ones expected after arm/disarm events
 
 		# gather info on arm/disarm lines, we will ignore the MaxT data from the first line found after each of these

Tools/LogAnalyzer/tests/TestUnderpowered.py

@@ -12,7 +12,62 @@ class TestUnderpowered(Test):
 		self.result = TestResult()
 		self.result.status = TestResult.StatusType.PASS
 
-		if logdata.vehicleType == "ArduPlane":
+		if logdata.vehicleType != "ArduCopter":
 			self.result.status = TestResult.StatusType.NA
 
-		# TODO: implement test for underpowered copter (use log Randy provided)
+		if not "CTUN" in logdata.channels:
+			self.result.status = TestResult.StatusType.UNKNOWN
+			self.result.statusMessage = "No CTUN log data"
+			return
+		if not "ATT" in logdata.channels:
+			self.result.status = TestResult.StatusType.UNKNOWN
+			self.result.statusMessage = "No ATT log data"
+			return
+
+		# check for throttle (CTUN.ThrOut) above 700 for a chunk of time with copter not rising
+
+		highThrottleThreshold = 700
+		tiltThreshold = 20 # ignore high throttle when roll or tilt is above this value
+		climbThresholdWARN = 100
+		climbThresholdFAIL = 50
+		minSampleLength = 50
+
+		highThrottleSegments = []
+
+		# find any contiguous chunks where CTUN.ThrOut > highThrottleThreshold, ignore high throttle if tilt > tiltThreshold, and discard any segments shorter than minSampleLength
+		start = None
+		data = logdata.channels["CTUN"]["ThrOut"].listData
+		for i in range(0,len(data)):
+			(lineNumber,value) = data[i]
+			isBelowTiltThreshold = True
+			if value > highThrottleThreshold:
+				(roll,meh)  = logdata.channels["ATT"]["Roll"].getNearestValue(lineNumber)
+				(pitch,meh) = logdata.channels["ATT"]["Pitch"].getNearestValue(lineNumber)
+				if (abs(roll) > tiltThreshold) or (abs(pitch) > tiltThreshold):
+					isBelowTiltThreshold = False
+			if (value > highThrottleThreshold) and isBelowTiltThreshold:
+				if start == None:
+					start = i
+			elif start != None:
+				if (i-start) > minSampleLength:
+					#print "Found high throttle chunk from line %d to %d (%d samples)" % (data[start][0],data[i][0],i-start+1)
+					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
+		for seg in highThrottleSegments:
+			(startLine,endLine) = (data[seg[0]][0], data[seg[1]][0])
+			avgClimbRate = logdata.channels["CTUN"]["CRate"].getSegment(startLine,endLine).avg()
+			avgThrOut    = logdata.channels["CTUN"]["ThrOut"].getSegment(startLine,endLine).avg()
+			#print "    Average CRate for this chunk is %.2f" % avgClimbRate
+			if avgClimbRate < climbThresholdFAIL:
+				self.result.status = TestResult.StatusType.FAIL
+				self.result.statusMessage = "Avg climb rate %.2f cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
+				return
+			if avgClimbRate < climbThresholdWARN:
+				self.result.status = TestResult.StatusType.WARN
+				self.result.statusMessage = "Avg climb rate %.2f  cm/s for throttle avg %d" % (avgClimbRate,avgThrOut)
+
+
+

Tools/LogAnalyzer/tests/TestVibration.py

@@ -21,7 +21,6 @@ class TestVibration(Test):
 		aimRangeWarnZ  = 2.0  # gravity +/- aim range
 		aimRangeFailZ  = 5.0  # gravity +/- aim range
 
-		# TODO: in Pixhawk should we use IMU or IMU2?
 		if not "IMU" in logdata.channels:
 			self.result.status = TestResult.StatusType.UNKNOWN
 			self.result.statusMessage = "No IMU log data"