ecl-ekf tools: set exit code to -1 for failed analysis, pipe args

- process_log_data: exit with code -1 if whole system analysis fails
- batch_process_logdata and process_log_data: pipe sensor safety
margin argument to the arguments of the superseeding scripts
- reduce minimum flight length for analysis to 50 samples

Tools/ecl_ekf/analyse_logdata_ekf.py

@@ -1166,7 +1166,7 @@ def analyse_ekf(estimator_status, ekf2_innovations, sensor_preflight, check_leve
     }
     # generate test metadata
     # reduction of innovation message data
-    if (innov_early_end_index > (innov_late_start_index + 100)):
+    if (innov_early_end_index > (innov_late_start_index + 50)):
         # Output Observer Tracking Errors
         test_results['output_obs_ang_err_median'][0] = np.median(
             ekf2_innovations['output_tracking_error[0]'][innov_late_start_index:innov_early_end_index + 1])
@@ -1175,7 +1175,7 @@ def analyse_ekf(estimator_status, ekf2_innovations, sensor_preflight, check_leve
         test_results['output_obs_pos_err_median'][0] = np.median(
             ekf2_innovations['output_tracking_error[2]'][innov_late_start_index:innov_early_end_index + 1])
     # reduction of status message data
-    if (early_end_index > (late_start_index + 100)):
+    if (early_end_index > (late_start_index + 50)):
         # IMU vibration checks
         temp = np.amax(estimator_status['vibe[0]'][late_start_index:early_end_index])
         if (temp > 0.0):

Tools/ecl_ekf/batch_process_logdata_ekf.py

@@ -14,6 +14,9 @@ parser.add_argument("directory_path")
 parser.add_argument('-o', '--overwrite', action='store_true',
                     help='Whether to overwrite an already analysed file. If a file with .pdf extension exists for a .ulg'
                          'file, the log file will be skipped from analysis unless this flag has been set.')
+parser.add_argument('--no-sensor-safety-margin', action='store_true',
+                    help='Whether to not cut-off 5s after take-off and 5s before landing '
+                         '(for certain sensors that might be influence by proximity to ground).')
 
 def is_valid_directory(parser, arg):
     if os.path.isdir(arg):
@@ -26,8 +29,8 @@ args = parser.parse_args()
 ulog_directory = args.directory_path
 print("\n"+"analysing the .ulg files in "+ulog_directory)
 
-# get all the ulog files found in the specified directory
+# get all the ulog files found in the specified directory and in subdirectories
-ulog_files = glob.glob(os.path.join(ulog_directory, '*.ulg'))
+ulog_files = glob.glob(os.path.join(ulog_directory, '**/*.ulg'), recursive=True)
 
 # remove the files already analysed unless the overwrite flag was specified. A ulog file is consired to be analysed if
 # a corresponding .pdf file exists.'
@@ -38,4 +41,7 @@ if not args.overwrite:
 # analyse all ulog files
 for ulog_file in ulog_files:
     print("\n"+"loading "+ulog_file +" for analysis")
-    os.system("python process_logdata_ekf.py '{}'".format(ulog_file))
+    if args.no_sensor_safety_margin:
+        os.system("python process_logdata_ekf.py {} --no-sensor-safety-margin".format(ulog_file))
+    else:
+        os.system("python process_logdata_ekf.py {}".format(ulog_file))

Tools/ecl_ekf/process_logdata_ekf.py

@@ -3,11 +3,11 @@
 from __future__ import print_function
 
 import argparse
-import os
+import os, sys
 
 from pyulog import *
 
-from analyse_logdata_ekf import *
+from analyse_logdata_ekf import analyse_ekf
 
 """
 Performs a health assessment on the ecl EKF navigation estimator data contained in a an ULog file
@@ -21,6 +21,9 @@ parser.add_argument('--no-plots', action='store_true',
                     help='Whether to only analyse and not plot the summaries for developers.')
 parser.add_argument('--check-level-thresholds', type=str, default=None,
                     help='The csv file of fail and warning test thresholds for analysis.')
+parser.add_argument('--no-sensor-safety-margin', action='store_true',
+                    help='Whether to not cut-off 5s after take-off and 5s before landing '
+                         '(for certain sensors that might be influence by proximity to ground).')
 
 def is_valid_directory(parser, arg):
     if os.path.isdir(arg):
@@ -73,15 +76,8 @@ print('Using test criteria loaded from {:s}'.format(check_level_dict_filename))
 # perform the ekf analysis
 test_results = analyse_ekf(
     estimator_status_data, ekf2_innovations_data, sensor_preflight_data,
-    check_levels, plot=not args.no_plots, output_plot_filename=args.filename + ".pdf")
+    check_levels, plot=not args.no_plots, output_plot_filename=args.filename + ".pdf",
-
+    late_start_early_ending=not args.no_sensor_safety_margin)
-# print master test status to console
-if (test_results['master_status'][0] == 'Pass'):
-    print('No anomalies detected')
-elif (test_results['master_status'][0] == 'Warning'):
-    print('Minor anomalies detected')
-elif (test_results['master_status'][0] == 'Fail'):
-    print('Major anomalies detected')
 
 # write metadata to a .csv file
 with open(args.filename + ".mdat.csv", "w") as file:
@@ -99,3 +95,12 @@ print('Test results written to {:s}.mdat.csv'.format(args.filename))
 
 if not args.no_plots:
     print('Plots saved to {:s}.pdf'.format(args.filename))
+
+# print master test status to console
+if (test_results['master_status'][0] == 'Pass'):
+    print('No anomalies detected')
+elif (test_results['master_status'][0] == 'Warning'):
+    print('Minor anomalies detected')
+elif (test_results['master_status'][0] == 'Fail'):
+    print('Major anomalies detected')
+    sys.exit(-1)