fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 04:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

refactor ecl ekf analysis (#11412)

Browse Source 
* refactor ekf analysis part 1: move plotting to functions

* add plot_check_flags plot function

* put plots in seperate file

* use object-oriented programming for plotting

* move functions for post processing and pdf report creation to new files

* add in_air_detector and description as a csv file

* refactor metrics and checks into separate functions

* refactor metrics into seperate file, seperate plotting

* ecl-ekf tools: re-structure folder and move results table generation

* ecl-ekf-tool: fix imports and test_results_table

* ecl-ekf tools: bugfix output observer tracking error plot

* ecl-ekf-tools: update batch processing to new api, fix exception handling

* ecl-ekf-tools: use correct in_air_detector

* ecl-ekf-tools: rename csv file containing the bare test results table

* ecl-tools: refactor for improving readability

* ecl-ekf tools: small plotting bugfixes

* ecl-ekf tools: small bugfixes in_air time, on_ground_trans, filenames

* ecl-ekf-tools: fix amber metric bug

* ecl-ekf-tools: remove custom function in inairdetector

* ecl-ekf-tools: remove import of pandas

* ecl-ekf-tools: add python interpreter to the script start

* ecl-ekf-tools pdf_report: fix python interpreter line

* px4-dev-ros-kinetic: update container tag to 2019-02-13

* ecl-ekf-tools python interpreter line: call python3 bin directly

* ecl-ekf-tools: change airtime from namedtuple to class for python 3.5

* ecl-ekf-tools: update docker image px4-dev-ros-kinetic

* ecl-ekf-tools: fix memory leak by correctly closing matplotlib figures
This commit is contained in:
JohannesBrand
2019-02-18 16:52:02 +01:00
committed by GitHub
parent 77b5c47d7f
commit b01e470ff9
19 changed files with 1826 additions and 1495 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Tools/ecl_ekf/check_table.csv
+66
View File
@@ -0,0 +1,66 @@
check_id,check_description
master_status, Master check status which can be either Pass Warning or Fail. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
mag_sensor_status, Magnetometer sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
yaw_sensor_status, Yaw sensor check summary. This sensor data can be sourced from the magnetometer or an external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
vel_sensor_status, Velocity sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
pos_sensor_status, Position sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
hgt_sensor_status, Height sensor check summary. This sensor data can be sourced from either Baro or GPS or range finder or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no anomalies were detected and no further investigation is required
hagl_sensor_status, Height above ground sensor check summary. This sensor data is normally sourced from a rangefinder sensor. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
tas_sensor_status, Airspeed sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
imu_sensor_status, IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
imu_vibration_check, IMU vibration check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
imu_bias_check, IMU bias check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
imu_output_predictor_check, IMU output predictor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
flow_sensor_status, Optical Flow sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
filter_fault_status, Internal Filter check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
mag_percentage_red, The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 1.0.
mag_percentage_amber, The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.
magx_fail_percentage, The percentage of in-flight recorded failure events for the X-axis magnetic field sensor innovation consistency test.
magy_fail_percentage, The percentage of in-flight recorded failure events for the Y-axis magnetic field sensor innovation consistency test.
magz_fail_percentage, The percentage of in-flight recorded failure events for the Z-axis magnetic field sensor innovation consistency test.
yaw_fail_percentage, The percentage of in-flight recorded failure events for the yaw sensor innovation consistency test.
mag_test_max, The maximum in-flight value of the magnetic field sensor innovation consistency test ratio.
mag_test_mean, The mean in-flight value of the magnetic field sensor innovation consistency test ratio.
vel_percentage_red, The percentage of in-flight velocity sensor consolidated innovation consistency test values > 1.0.
vel_percentage_amber, The percentage of in-flight velocity sensor consolidated innovation consistency test values > 0.5.
vel_fail_percentage, The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
vel_test_max, The maximum in-flight value of the velocity sensor consolidated innovation consistency test ratio.
vel_test_mean, The mean in-flight value of the velocity sensor consolidated innovation consistency test ratio.
pos_percentage_red, The percentage of in-flight position sensor consolidated innovation consistency test values > 1.0.
pos_percentage_amber, The percentage of in-flight position sensor consolidated innovation consistency test values > 0.5.
pos_fail_percentage, The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
pos_test_max, The maximum in-flight value of the position sensor consolidated innovation consistency test ratio.
pos_test_mean, The mean in-flight value of the position sensor consolidated innovation consistency test ratio.
hgt_percentage_red, The percentage of in-flight height sensor innovation consistency test values > 1.0.
hgt_percentage_amber, The percentage of in-flight height sensor innovation consistency test values > 0.5.
hgt_fail_percentage, The percentage of in-flight recorded failure events for the height sensor innovation consistency test.
hgt_test_max, The maximum in-flight value of the height sensor innovation consistency test ratio.
hgt_test_mean, The mean in-flight value of the height sensor innovation consistency test ratio.
tas_percentage_red, The percentage of in-flight airspeed sensor innovation consistency test values > 1.0.
tas_percentage_amber, The percentage of in-flight airspeed sensor innovation consistency test values > 0.5.
tas_fail_percentage, The percentage of in-flight recorded failure events for the airspeed sensor innovation consistency test.
tas_test_max, The maximum in-flight value of the airspeed sensor innovation consistency test ratio.
tas_test_mean, The mean in-flight value of the airspeed sensor innovation consistency test ratio.
hagl_percentage_red, The percentage of in-flight height above ground sensor innovation consistency test values > 1.0.
hagl_percentage_amber, The percentage of in-flight height above ground sensor innovation consistency test values > 0.5.
hagl_fail_percentage, The percentage of in-flight recorded failure events for the height above ground sensor innovation consistency test.
hagl_test_max, The maximum in-flight value of the height above ground sensor innovation consistency test ratio.
hagl_test_mean, The mean in-flight value of the height above ground sensor innovation consistency test ratio.
ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
output_obs_pos_err_median, Median in-flight value of the output observer position error (m)
imu_dang_bias_median, Median in-flight value of the delta angle bias vector length (rad)
imu_dvel_bias_median, Median in-flight value of the delta velocity bias vector length (m/s)
tilt_align_time, The time in seconds measured from startup that the EKF completed the tilt alignment. A nan value indicates that the alignment had completed before logging started or alignment did not complete.
yaw_align_time, The time in seconds measured from startup that the EKF completed the yaw alignment.
in_air_transition_time, The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.
on_ground_transition_time, The time in seconds measured from startup that the EKF transitioned out of in-air mode. Set to a nan if a transition event is not detected.
1 check_id check_description
2 master_status Master check status which can be either Pass Warning or Fail. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
3 mag_sensor_status Magnetometer sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
4 yaw_sensor_status Yaw sensor check summary. This sensor data can be sourced from the magnetometer or an external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
5 vel_sensor_status Velocity sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
6 pos_sensor_status Position sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
7 hgt_sensor_status Height sensor check summary. This sensor data can be sourced from either Baro or GPS or range finder or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no anomalies were detected and no further investigation is required
8 hagl_sensor_status Height above ground sensor check summary. This sensor data is normally sourced from a rangefinder sensor. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
9 tas_sensor_status Airspeed sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
10 imu_sensor_status IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
11 imu_vibration_check IMU vibration check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
12 imu_bias_check IMU bias check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
13 imu_output_predictor_check IMU output predictor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
14 flow_sensor_status Optical Flow sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
15 filter_fault_status Internal Filter check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required
16 mag_percentage_red The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 1.0.
17 mag_percentage_amber The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.
18 magx_fail_percentage The percentage of in-flight recorded failure events for the X-axis magnetic field sensor innovation consistency test.
19 magy_fail_percentage The percentage of in-flight recorded failure events for the Y-axis magnetic field sensor innovation consistency test.
20 magz_fail_percentage The percentage of in-flight recorded failure events for the Z-axis magnetic field sensor innovation consistency test.
21 yaw_fail_percentage The percentage of in-flight recorded failure events for the yaw sensor innovation consistency test.
22 mag_test_max The maximum in-flight value of the magnetic field sensor innovation consistency test ratio.
23 mag_test_mean The mean in-flight value of the magnetic field sensor innovation consistency test ratio.
24 vel_percentage_red The percentage of in-flight velocity sensor consolidated innovation consistency test values > 1.0.
25 vel_percentage_amber The percentage of in-flight velocity sensor consolidated innovation consistency test values > 0.5.
26 vel_fail_percentage The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
27 vel_test_max The maximum in-flight value of the velocity sensor consolidated innovation consistency test ratio.
28 vel_test_mean The mean in-flight value of the velocity sensor consolidated innovation consistency test ratio.
29 pos_percentage_red The percentage of in-flight position sensor consolidated innovation consistency test values > 1.0.
30 pos_percentage_amber The percentage of in-flight position sensor consolidated innovation consistency test values > 0.5.
31 pos_fail_percentage The percentage of in-flight recorded failure events for the velocity sensor consolidated innovation consistency test.
32 pos_test_max The maximum in-flight value of the position sensor consolidated innovation consistency test ratio.
33 pos_test_mean The mean in-flight value of the position sensor consolidated innovation consistency test ratio.
34 hgt_percentage_red The percentage of in-flight height sensor innovation consistency test values > 1.0.
35 hgt_percentage_amber The percentage of in-flight height sensor innovation consistency test values > 0.5.
36 hgt_fail_percentage The percentage of in-flight recorded failure events for the height sensor innovation consistency test.
37 hgt_test_max The maximum in-flight value of the height sensor innovation consistency test ratio.
38 hgt_test_mean The mean in-flight value of the height sensor innovation consistency test ratio.
39 tas_percentage_red The percentage of in-flight airspeed sensor innovation consistency test values > 1.0.
40 tas_percentage_amber The percentage of in-flight airspeed sensor innovation consistency test values > 0.5.
41 tas_fail_percentage The percentage of in-flight recorded failure events for the airspeed sensor innovation consistency test.
42 tas_test_max The maximum in-flight value of the airspeed sensor innovation consistency test ratio.
43 tas_test_mean The mean in-flight value of the airspeed sensor innovation consistency test ratio.
44 hagl_percentage_red The percentage of in-flight height above ground sensor innovation consistency test values > 1.0.
45 hagl_percentage_amber The percentage of in-flight height above ground sensor innovation consistency test values > 0.5.
46 hagl_fail_percentage The percentage of in-flight recorded failure events for the height above ground sensor innovation consistency test.
47 hagl_test_max The maximum in-flight value of the height above ground sensor innovation consistency test ratio.
48 hagl_test_mean The mean in-flight value of the height above ground sensor innovation consistency test ratio.
49 ofx_fail_percentage The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
50 ofy_fail_percentage The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
51 filter_faults_max Largest recorded value of the filter internal fault bitmask. Should always be zero.
52 imu_coning_peak Peak in-flight value of the IMU delta angle coning vibration metric (rad)
53 imu_coning_mean Mean in-flight value of the IMU delta angle coning vibration metric (rad)
54 imu_hfdang_peak Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
55 imu_hfdang_mean Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
56 imu_hfdvel_peak Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
57 imu_hfdvel_mean Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
58 output_obs_ang_err_median Median in-flight value of the output observer angular error (rad)
59 output_obs_vel_err_median Median in-flight value of the output observer velocity error (m/s)
60 output_obs_pos_err_median Median in-flight value of the output observer position error (m)
61 imu_dang_bias_median Median in-flight value of the delta angle bias vector length (rad)
62 imu_dvel_bias_median Median in-flight value of the delta velocity bias vector length (m/s)
63 tilt_align_time The time in seconds measured from startup that the EKF completed the tilt alignment. A nan value indicates that the alignment had completed before logging started or alignment did not complete.
64 yaw_align_time The time in seconds measured from startup that the EKF completed the yaw alignment.
65 in_air_transition_time The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.
66 on_ground_transition_time The time in seconds measured from startup that the EKF transitioned out of in-air mode. Set to a nan if a transition event is not detected.