def analyse_ekf(
ulog: ULog, check_levels: Dict[str, float], red_thresh: float = 1.0,
amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
in_air_margin_seconds: float = 5.0, pos_checks_when_sensors_not_fused: bool = False) -> \
Tuple[str, Dict[str, str], Dict[str, float], Dict[str, float]]:
"""
:param ulog:
:param check_levels:
:param red_thresh:
:param amb_thresh:
:param min_flight_duration_seconds:
:param in_air_margin_seconds:
:param pos_checks_when_sensors_not_fused:
:return:
"""
try:
estimator_status = ulog.get_dataset('estimator_status').data
print('found estimator_status data')
except:
raise PreconditionError('could not find estimator_status data')
try:
_ = ulog.get_dataset('ekf2_innovations').data
print('found ekf2_innovation data')
except:
raise PreconditionError('could not find ekf2_innovation data')
try:
in_air = InAirDetector(
ulog, min_flight_time_seconds=min_flight_duration_seconds, in_air_margin_seconds=0.0)
in_air_no_ground_effects = InAirDetector(
ulog, min_flight_time_seconds=min_flight_duration_seconds,
in_air_margin_seconds=in_air_margin_seconds)
except Exception as e:
raise PreconditionError(str(e))
if in_air_no_ground_effects.take_off is None:
raise PreconditionError('no airtime detected.')
airtime_info = {
'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}
control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
sensor_checks, innov_fail_checks = find_checks_that_apply(
control_mode, estimator_status,
pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)
metrics = calculate_ecl_ekf_metrics(
ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
red_thresh=red_thresh, amb_thresh=amb_thresh)
check_status, master_status = perform_ecl_ekf_checks(
metrics, sensor_checks, innov_fail_checks, check_levels)
return master_status, check_status, metrics, airtime_info
def analyse_ekf(
ulog: ULog, check_levels: Dict[str, float], red_thresh: float = 1.0,
amb_thresh: float = 0.5, min_flight_duration_seconds: float = 5.0,
in_air_margin_seconds: float = 5.0, pos_checks_when_sensors_not_fused: bool = False) -> \
Tuple[str, Dict[str, str], Dict[str, float], Dict[str, float]]:
"""
:param ulog:
:param check_levels:
:param red_thresh:
:param amb_thresh:
:param min_flight_duration_seconds:
:param in_air_margin_seconds:
:param pos_checks_when_sensors_not_fused:
:return:
"""
try:
estimator_states = ulog.get_dataset('estimator_states').data
print('found estimator_states data')
except:
raise PreconditionError('could not find estimator_states data')
try:
estimator_status = ulog.get_dataset('estimator_status').data
print('found estimator_status data')
except:
raise PreconditionError('could not find estimator_status data')
try:
_ = ulog.get_dataset('estimator_innovations').data
print('found estimator_innovations data')
except:
raise PreconditionError('could not find estimator_innovations data')
try:
in_air = InAirDetector(
ulog, min_flight_time_seconds=min_flight_duration_seconds, in_air_margin_seconds=0.0)
in_air_no_ground_effects = InAirDetector(
ulog, min_flight_time_seconds=min_flight_duration_seconds,
in_air_margin_seconds=in_air_margin_seconds)
except Exception as e:
raise PreconditionError(str(e))
if in_air_no_ground_effects.take_off is None:
raise PreconditionError('no airtime detected.')
airtime_info = {
'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}
control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
sensor_checks, innov_fail_checks = find_checks_that_apply(
control_mode, estimator_status,
pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)
metrics = calculate_ecl_ekf_metrics(
ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
red_thresh=red_thresh, amb_thresh=amb_thresh)
check_status, master_status = perform_ecl_ekf_checks(
metrics, sensor_checks, innov_fail_checks, check_levels)
return master_status, check_status, metrics, airtime_info