From: Keith Packard Date: Tue, 22 Mar 2011 12:51:52 +0000 (+0900) Subject: altos: Fix up flight code testing X-Git-Tag: 0.9.3~111 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=7d7b476564a16eda81ab3406f70a21995e1b464e altos: Fix up flight code testing This automates flight code testing by reporting mis-detected apogee or main events. Signed-off-by: Keith Packard --- diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index e7bfbdd2..51a5965c 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -22,6 +22,7 @@ #include #include #include +#include #define AO_HERTZ 100 @@ -87,11 +88,27 @@ enum ao_igniter { struct ao_adc ao_adc_static; +int drogue_height; +double drogue_time; +int main_height; +double main_time; + +int tick_offset; + +static int32_t ao_k_height; + void ao_ignite(enum ao_igniter igniter) { - printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main", - (double) ao_adc_static.tick / 100.0); + double time = (double) (ao_adc_static.tick + tick_offset) / 100; + + if (igniter == ao_igniter_drogue) { + drogue_time = time; + drogue_height = ao_k_height >> 16; + } else { + main_time = time; + main_height = ao_k_height >> 16; + } } struct ao_task { @@ -108,7 +125,12 @@ struct ao_task { #define AO_FLIGHT_TEST +int ao_flight_debug; + FILE *emulator_in; +char *emulator_app; +char *emulator_name; +double emulator_error_max = 10; void ao_dump_state(void); @@ -157,51 +179,84 @@ struct ao_config ao_config; extern int16_t ao_ground_accel, ao_raw_accel; extern int16_t ao_accel_2g; -int32_t drogue_height; -int32_t main_height; - -int tick_offset; uint16_t prev_tick; static int ao_records_read = 0; static int ao_eof_read = 0; static int ao_flight_ground_accel; static int ao_flight_started = 0; +static int ao_test_max_height; +static double ao_test_max_height_time; +static int ao_test_main_height; +static double ao_test_main_height_time; void ao_insert(void) { + double time; + ao_adc_ring[ao_adc_head] = ao_adc_static; ao_adc_head = ao_adc_ring_next(ao_adc_head); - if (ao_summary) - return; - if (ao_flight_state == ao_flight_startup) - return; - { + if (ao_flight_state != ao_flight_startup) { double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height; double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); if (!tick_offset) - tick_offset = ao_adc_static.tick; - if (!drogue_height && ao_flight_state >= ao_flight_drogue) - drogue_height = ao_k_height; - if (!main_height && ao_flight_state >= ao_flight_main) - main_height = ao_k_height; - if ((prev_tick - ao_adc_static.tick) > 0) + tick_offset = -ao_adc_static.tick; + if ((prev_tick - ao_adc_static.tick) > 0x400) tick_offset += 65536; prev_tick = ao_adc_static.tick; - printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n", - (double) (ao_adc_static.tick + tick_offset) / 100, - height, - accel, - ao_state_names[ao_flight_state], - ao_k_height / 65536.0, - ao_k_speed / 65536.0 / 16.0, - ao_k_accel / 65536.0 / 16.0, - drogue_height / 65536.0, - main_height / 65536.0, - ao_error_h_sq_avg); + time = (double) (ao_adc_static.tick + tick_offset) / 100; + if (!ao_summary) { + printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n", + time, + height, + accel, + ao_state_names[ao_flight_state], + ao_k_height / 65536.0, + ao_k_speed / 65536.0 / 16.0, + ao_k_accel / 65536.0 / 16.0, + drogue_height, + main_height, + ao_error_h_sq_avg); + } + + if (ao_test_max_height < height) { + ao_test_max_height = height; + ao_test_max_height_time = time; + } + if (height > ao_config.main_deploy) { + ao_test_main_height_time = time; + ao_test_main_height = height; + } + } +} + +void +ao_test_exit(void) +{ + double drogue_error; + double main_error; + + if (!ao_test_main_height_time) { + ao_test_main_height_time = ao_test_max_height_time; + ao_test_main_height = ao_test_max_height; + } + drogue_error = fabs(ao_test_max_height_time - drogue_time); + main_error = fabs(ao_test_main_height_time - main_time); + if (drogue_error > emulator_error_max || main_error > emulator_error_max) { + printf ("%s %s\n", + emulator_app, emulator_name); + printf ("\tApogee error %g\n", drogue_error); + printf ("\tMain error %g\n", main_error); + printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n", + ao_test_max_height, ao_test_max_height_time, + ao_test_main_height, ao_test_main_height_time); + printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n", + drogue_height, drogue_time, main_height, main_time); + exit (1); } + exit(0); } void @@ -228,8 +283,9 @@ ao_sleep(void *wchan) if (!fgets(line, sizeof (line), emulator_in)) { if (++ao_eof_read >= 1000) { - printf ("no more data, exiting simulation\n"); - exit(0); + if (!ao_summary) + printf ("no more data, exiting simulation\n"); + ao_test_exit(); } ao_adc_static.tick += 10; ao_insert(); @@ -247,10 +303,10 @@ ao_sleep(void *wchan) tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); b = strtoul(words[3], NULL, 16); - } else if (nword >= 6 && strcmp(words[0], "Accel")) { + } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); - } else if (nword >= 4 && strcmp(words[0], "Main")) { + } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { ao_config.main_deploy = atoi(words[2]); } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) { tick = atoi(words[10]); @@ -308,21 +364,17 @@ ao_sleep(void *wchan) void ao_dump_state(void) { - if (ao_flight_state == ao_flight_startup) - return; - if (ao_summary) - return; - if (ao_flight_state == ao_flight_landed) - exit(0); } static const struct option options[] = { { .name = "summary", .has_arg = 0, .val = 's' }, + { .name = "debug", .has_arg = 0, .val = 'd' }, { 0, 0, 0, 0}, }; void run_flight_fixed(char *name, FILE *f, int summary) { + emulator_name = name; emulator_in = f; ao_summary = summary; ao_flight_init(); @@ -336,11 +388,19 @@ main (int argc, char **argv) int c; int i; - while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) { +#if HAS_ACCEL + emulator_app="full"; +#else + emulator_app="baro"; +#endif + while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) { switch (c) { case 's': summary = 1; break; + case 'd': + ao_flight_debug = 1; + break; } } diff --git a/src/test/run-one b/src/test/run-one index f9d21576..d661abec 100755 --- a/src/test/run-one +++ b/src/test/run-one @@ -1,17 +1,24 @@ #!/bin/sh -./ao_flight_test "$1" > run-out.full -./ao_flight_test_baro "$1" > run-out.baro -./ao_flight_test_accel "$1" > run-out.accel +for i in "$@"; do +./ao_flight_test "$i" > run-out.full +./ao_flight_test_baro "$i" > run-out.baro +#./ao_flight_test_accel "$i" > run-out.accel -gnuplot -persist << EOF +#"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\ +#"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\ +#"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\ +#"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\ +#"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main",\ + +gnuplot << EOF set ylabel "altitude (m)" set y2label "velocity (m/s), acceleration(m/s²)" set xlabel "time (s)" set xtics border out nomirror set ytics border out nomirror set y2tics border out nomirror -set title "$1" +set title "$i" plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height",\ "run-out.full" using 1:5 with lines lw 2 lt 1 axes x1y2 title "raw accel",\ "run-out.full" using 1:9 with lines lt 2 axes x1y1 title "full height",\ @@ -23,10 +30,7 @@ plot "run-out.full" using 1:3 with lines lw 2 lt 1 axes x1y1 title "raw height", "run-out.baro" using 1:11 with lines lt 3 axes x1y2 title "baro speed",\ "run-out.baro" using 1:13 with lines lt 3 axes x1y2 title "baro accel",\ "run-out.baro" using 1:15 with lines lt 3 axes x1y1 title "baro drogue",\ -"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main",\ -"run-out.accel" using 1:9 with lines lt 4 axes x1y1 title "accel height",\ -"run-out.accel" using 1:11 with lines lt 4 axes x1y2 title "accel speed",\ -"run-out.accel" using 1:13 with lines lt 4 axes x1y2 title "accel accel",\ -"run-out.accel" using 1:15 with lines lt 4 axes x1y1 title "accel drogue",\ -"run-out.accel" using 1:17 with lines lt 4 axes x1y1 title "accel main" +"run-out.baro" using 1:17 with lines lt 3 axes x1y1 title "baro main" +pause mouse close EOF +done \ No newline at end of file diff --git a/src/test/run-tests b/src/test/run-tests index ec279776..11b4c95c 100755 --- a/src/test/run-tests +++ b/src/test/run-tests @@ -2,21 +2,21 @@ DIR=~/src/cc1111/flights +bad_baro=0 +bad_full=0 while read flight; do - baro=`./ao_flight_test_baro -s $DIR/$flight | - awk '/drogue/ { printf "%s ", $4 } - /main/ { printf "%s\n", $4 }'` - full=`./ao_flight_test -s $DIR/$flight | - awk '/drogue/ { printf "%s ", $4 } - /main/ { printf "%s\n", $4 }'` - echo $flight $baro $full -done < test-flights | -awk '{ name = $1; - drogue_error = $2 - $4; - if (drogue_error < 0) drogue_error = -drogue_error; - main_error = $3 - $5; - if (main_error < 0) main_error = -main_error; - if (drogue_error > 4 || main_error > 4) - printf ("%s: baro drogue %f main %f. full drogue %f main %f\n", - name, $2, $3, $4, $5); - }' + if ./ao_flight_test_baro -s $DIR/$flight; then + : + else + ((bad_baro++)) + fi + if ./ao_flight_test -s $DIR/$flight; then + : + else + ((bad_full++)) + fi +done < test-flights +echo baro errors $bad_baro +echo full errors $bad_full +((bad = bad_baro + bad_full)) +exit $bad \ No newline at end of file diff --git a/src/test/test-flights b/src/test/test-flights index afdaba5a..0b90d9e0 100644 --- a/src/test/test-flights +++ b/src/test/test-flights @@ -63,7 +63,6 @@ 2010-09-24-serial-236-flight-006.eeprom 2010-09-25-serial-223-flight-001.eeprom 2010-10-17-serial-215-flight-006.eeprom -2010-10-23-serial-236-flight-008.eeprom 2011-01-30-serial-056-flight-001.eeprom 2011-01-30-serial-250-flight-002.eeprom 2011-02-19-serial-215-flight-007.eeprom