Iniitial check

2to3

@@ -0,0 +1,5 @@
+#!/usr/bin/env python
+import sys
+from lib2to3.main import main
+
+sys.exit(main("lib2to3.fixes"))

MPU6KSearch.py

@@ -0,0 +1,199 @@
+#!/usr/bin/env python
+
+'''
+search a set of log files for signs of inconsistent IMU data
+'''
+
+import sys, time, os, glob
+import zipfile
+
+from pymavlink import mavutil
+from math import degrees
+
+# extra imports for pyinstaller
+import json
+from pymavlink.dialects.v10 import ardupilotmega
+
+search_dirs = ['c:\Program Files\APM Planner',
+               'c:\Program Files\Mission Planner',
+               'c:\Program Files (x86)\APM Planner',
+               'c:\Program Files (x86)\Mission Planner']
+results = 'SearchResults.zip'
+email = 'Craig Elder <[email protected]>'
+
+def IMUCheckFail(filename):
+    try:
+        mlog = mavutil.mavlink_connection(filename)
+    except Exception:
+        return False
+
+    accel1 = None
+    accel2 = None
+    gyro1 = None
+    gyro2 = None
+    t1 = 0
+    t2 = 0
+    ecount_accel = [0]*3
+    ecount_gyro = [0]*3
+    athreshold = 3.0
+    gthreshold = 30.0
+    count_threshold = 100
+    imu1_count = 0
+    imu2_count = 0
+
+    while True:
+        try:
+            m = mlog.recv_match(type=['RAW_IMU','SCALED_IMU2','IMU','IMU2','PARM','PARAM_VALUE'])
+        except Exception as e:
+            print('Error: %s' % e)
+            break
+        if m is None:
+            break
+        mtype = m.get_type()
+        gotimu2 = False
+        if mtype == 'RAW_IMU':
+            accel1 = [m.xacc*9.81*0.001, m.yacc*9.81*0.001, m.zacc*9.81*0.001]
+            gyro1  = [degrees(m.xgyro*0.001), degrees(m.ygyro*0.001), degrees(m.zgyro*0.001)]
+            t1 = m.time_usec/1000
+            imu1_count += 1
+        elif mtype == 'SCALED_IMU2':
+            accel2 = [m.xacc*9.81*0.001, m.yacc*9.81*0.001, m.zacc*9.81*0.001]
+            gyro2  = [degrees(m.xgyro*0.001), degrees(m.ygyro*0.001), degrees(m.zgyro*0.001)]
+            gotimu2 = True
+            t2 = m.time_boot_ms
+            imu2_count += 1
+        elif mtype == 'IMU':
+            accel1 = [m.AccX, m.AccY, m.AccZ]
+            gyro1  = [m.GyrX, m.GyrY, m.GyrZ]
+            t1 = m.TimeMS
+            imu1_count += 1
+        elif mtype == 'IMU2':
+            accel2 = [m.AccX, m.AccY, m.AccZ]
+            gyro2  = [m.GyrX, m.GyrY, m.GyrZ]
+            gotimu2 = True
+            t2 = m.TimeMS
+            imu2_count += 1
+        elif mtype == 'PARM':
+            if m.Name.startswith('INS_ACCOFFS_') or m.Name.startswith('INS_ACC2OFFS_'):
+                if m.Value == 0.0:
+                    print('UNCALIBRATED: %s' % m)
+                    return False
+        elif mtype == 'PARAM_VALUE':
+            if m.param_id.startswith('INS_ACCOFFS_') or m.param_id.startswith('INS_ACC2OFFS_'):
+                if m.param_value == 0.0:
+                    print('UNCALIBRATED: %s' % m)
+                    return False
+
+        # skip out early if we don't have two IMUs
+        if imu1_count > imu2_count + 100:
+            return False
+
+        if accel1 is not None and accel2 is not None and gotimu2 and t2 >= t1:
+            for i in range(3):
+                adiff = accel1[i] - accel2[i]
+                if adiff > athreshold:
+                    if ecount_accel[i] < 0:
+                        ecount_accel[i] = 0
+                    else:
+                        ecount_accel[i] += 1
+                elif adiff < -athreshold:
+                    if ecount_accel[i] > 0:
+                        ecount_accel[i] = 0
+                    else:
+                        ecount_accel[i] -= 1
+                else:
+                        ecount_accel[i] = 0                    
+                gdiff = gyro1[i] - gyro2[i]
+                if gdiff > gthreshold:
+                    if ecount_gyro[i] < 0:
+                        ecount_gyro[i] = 0
+                    else:
+                        ecount_gyro[i] += 1
+                elif gdiff < -gthreshold:
+                    if ecount_gyro[i] > 0:
+                        ecount_gyro[i] = 0
+                    else:
+                        ecount_gyro[i] -= 1
+                else:
+                        ecount_gyro[i] = 0                    
+                if abs(ecount_accel[i]) > count_threshold:
+                    print("acceldiff[%u] %.1f" % (i, adiff))
+                    print(m)
+                    return True
+                if abs(ecount_gyro[i]) > count_threshold:
+                    print("gyrodiff[i] %.1f" % (i, adiff))
+                    print(m)
+                    return True
+
+    return False
+
+found = []
+directories = sys.argv[1:]
+if not directories:
+    directories = search_dirs
+
+filelist = []
+
+extensions = ['.tlog','.bin']
+
+def match_extension(f):
+    '''see if the path matches a extension'''
+    (root,ext) = os.path.splitext(f)
+    return ext.lower() in extensions
+
+for d in directories:
+    if not os.path.exists(d):
+        continue
+    if os.path.isdir(d):
+        print("Searching in %s" % d)
+        for (root, dirs, files) in os.walk(d):
+            for f in files:
+                if not match_extension(f):
+                    continue
+                path = os.path.join(root, f)
+                filelist.append(path)
+    elif match_extension(d):
+        filelist.append(d)
+
+for i in range(len(filelist)):
+    f = filelist[i]
+    print("Checking %s ... [found=%u i=%u/%u]" % (f, len(found), i, len(filelist)))
+    try:
+        if IMUCheckFail(f):
+            found.append(f)
+    except Exception as e:
+        print("Failed - %s" % e)
+        continue
+    sys.stdout.flush()
+
+if len(found) == 0:
+    print("No matching files found - all OK!")
+    raw_input('Press enter to close')
+    sys.exit(0)
+
+print("Creating zip file %s" % results)
+try:
+    zip = zipfile.ZipFile(results, 'w')
+except Exception:
+    print("Unable to create zip file %s" % results)
+    print("Please send matching files manually")
+    for f in found:
+        print('MATCHED: %s' % f)
+    raw_input('Press enter to close')
+    sys.exit(1)
+
+for f in found:
+    arcname=os.path.basename(f)
+    if not arcname.startswith('201'):
+        mtime = os.path.getmtime(f)
+        arcname = "%s-%s" % (time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(mtime)), arcname)
+    zip.write(f, arcname=arcname)
+zip.close()
+
+print('==============================================')
+print("Created %s with %u of %u matching logs" % (results, len(found), len(filelist)))
+print("Please send this file to %s" % email)
+print('==============================================')
+
+raw_input('Press enter to close')
+sys.exit(0)

SoloTest.sh

@@ -0,0 +1,124 @@
+#!/bin/sh
+clear
+
+echo "Solo Test Script"
+SSHARGS="-o StrictHostKeyChecking=no -o ConnectTimeout=3"
+MAC=`ifconfig -a | grep HWaddr | awk '{print $5}' | tr '[:upper:]' '[:lower:]'`
+DEBUGFSDIR=/sys/kernel/debug/ieee80211/phy0/
+
+connectToTF() {
+    SSID=$1
+    rm -f /tmp/wpa*
+    killall wpa_supplicant &> /dev/null
+    echo "Connecting"
+    cp /etc/wpa_supplicant.conf /tmp/
+    wpa_passphrase $SSID sololink > /tmp/wpa_supplicant.conf
+    wpa_supplicant -c/tmp/wpa_supplicant.conf -Dnl80211 -B -iwlan0 &> /dev/null
+    ifconfig wlan0 10.1.1.10
+    ping 10.1.1.1 -c1 -W5 &> /dev/null
+    if [ $? -ne 0 ]; then
+	    echo "Unable to connect"
+        echo "********************FAIL************************"
+	    disconnectFromTF
+	    exit 1
+    fi
+}
+
+disconnectFromTF() {
+    echo "Disconnecting"
+    ifconfig wlan0 down
+    killall wpa_supplicant
+}
+
+if [ "$#" -ne 1 ]; then
+    echo "Please specify the SoloLink_TEST network SSID"
+    exit 1
+fi
+
+TFSSID=$1
+
+echo "Initializing system"
+init 2
+sleep 2
+ssh-keygen -R 10.1.1.1 &> /dev/null
+
+echo "Attempting to connect to $TFSSID"
+connectToTF $TFSSID
+#ssh $SSHARGS [email protected] "iw phy0 set txpower fixed 100"
+#iw phy0 set txpower fixed 100
+
+echo "Testing connection"
+PASS=1
+for ant in 1 2; do
+    echo "Antenna ${ant}: "
+    ifconfig wlan0 down
+    iw phy0 set antenna 0x${ant} 0x${ant}
+    ifconfig wlan0 10.1.1.10
+    sleep 1
+    rx=0
+    tx=0
+    rxWorst=0
+    txWorst=0
+    rxBest=-200
+    txBest=-200
+    for i in {1..20}; do
+        rxSig=`cat ${DEBUGFSDIR}netdev:wlan0/stations/*/last_signal`
+        txSig=`ssh $SSHARGS [email protected] "cat ${DEBUGFSDIR}netdev:wlan0-ap/stations/${MAC}/last_signal"`
+        if [ $? -ne 0 ]; then
+            echo "Unable to connect to read signal value."
+            echo "********************FAIL************************"
+            PASS=0
+            break
+        fi
+
+        echo -n "."
+        #echo "$txSig $txWorst $txBest"
+        #echo "$rxSig $rxWorst $rxBest"
+        rx=$((rx+rxSig))
+        tx=$((tx+txSig))
+        if [ $rxSig -le $rxWorst ]; then
+            rxWorst=$rxSig
+        fi
+        if [ $txSig -le $txWorst ]; then
+            txWorst=$txSig
+        fi
+        if [ $rxSig -ge $rxBest ]; then
+            rxBest=$rxSig
+        fi
+        if [ $txSig -ge $txBest ]; then
+            txBest=$txSig
+        fi
+    done
+    echo ""
+    rx=$((rx/20))
+    tx=$((tx/20))
+    echo "Rx best: ${rxBest} avg: ${rx} worst: $rxWorst"
+    echo "Tx best: ${txBest} avg: ${tx} worst: $txWorst"
+
+    if [ $rx -le -42 ] && [ $rxBest -le -40 ]; then
+        echo "********************FAIL************************"
+        disconnectFromTF
+        #echo "Done"
+        #exit
+        PASS=0
+        break
+    fi
+
+    if [ $tx -le -42 ] && [ $rxBest -le -40 ]; then
+        echo "********************FAIL************************"
+        disconnectFromTF
+        #echo "Done"
+        #exit
+        PASS=0
+        break
+    fi
+done
+
+if [ $PASS -eq 1 ]; then
+    echo "********************PASS************************"
+    disconnectFromTF
+fi
+#iw phy0 set txpower fixed 2700
+#ssh $SSHARGS [email protected] "iw phy0 set txpower fixed 2700"
+echo "Done"
+

app_connected_msg.py

@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+# Send "app connected" message
+# Required artoo 0.7.9 or later.
+
+import socket
+import struct
+import sys
+
+DISCONNECTED = 0
+CONNECTED = 1
+
+# Must match flightcode/stm32
+APP_CONNECTED_PORT = 5026
+
+def send(app_connected):
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    msg = struct.pack("!B", app_connected)
+    s.sendto(msg, ("127.0.0.1", APP_CONNECTED_PORT))
+    s.close()
+
+def send_connected():
+    send(CONNECTED)
+
+def send_disconnected():
+    send(DISCONNECTED)
+
+def usage():
+    print "usage: app_connected.py <connected>"
+    print "        where <connected> is one of"
+    print "        c[onnected]     tell stm32 app is connected"
+    print "        d[isconnected]  tell stm32 app is disconnected"
+
+if __name__ == "__main__":
+    # one required argument: "c[onnected]" or "d[isconnected]"
+    if len(sys.argv) != 2:
+        usage()
+    elif sys.argv[1][0] == "c":
+        send_connected()
+    elif sys.argv[1][0] == "d":
+        send_disconnected()
+    else:
+        usage()