Rename fault detection flags

inertialsense · Jan 12, 2025 · 4987c86 · 4987c86
1 parent cd3eb13
commit 4987c86
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Showing 2 changed files with 39 additions and 17 deletions.
diff --git a/python/logInspector/logPlotter.py b/python/logInspector/logPlotter.py
@@ -1034,17 +1034,30 @@ def imuStatus(self, fig=None, axs=None):
             if fig is None:
                 fig = plt.figure()
             ax = fig.subplots(1, 1, sharex=True)
-            fig.suptitle('IMU Status - ' + os.path.basename(os.path.normpath(self.log.directory)))
 
             for d in self.active_devs:
                 r = d == self.active_devs[0]    # plot text w/ first device
                 cnt = 0
 
-                time = self.getData(d, DID_PIMU, 'time')
+                time   = self.getData(d, DID_PIMU, 'time')
+                status = self.getData(d, DID_PIMU, 'status')
+                title  = 'PIMU Status - '
+                if not len(time):
+                    time   = self.getData(d, DID_IMU, 'time')
+                    status = self.getData(d, DID_IMU, 'status')
+                    title  = 'IMU Status - '
+                if not len(time):
+                    time   = self.getData(d, DID_IMU3_RAW, 'time')
+                    status = self.getData(d, DID_IMU3_RAW, 'status')
+                    title  = 'IMU3-RAW Status - '
+                if not len(time):
+                    return
+
+                fig.suptitle(title + os.path.basename(os.path.normpath(self.log.directory)))
+
                 towOffset = self.getData(d, DID_GPS1_POS, 'towOffset')
-                if towOffset.size:
+                if len(towOffset) > 0:
                     time = getTimeFromGpsTow(time + np.mean(towOffset))
-                status = self.getData(d, DID_PIMU, 'status')
 
                 ax.plot(time, -cnt * 1.5 + ((status & 0x00000001) != 0))
                 p1 = ax.get_xlim()[0] + 0.02 * (ax.get_xlim()[1] - ax.get_xlim()[0])
@@ -1224,21 +1237,16 @@ def hdwStatus(self, fig=None, axs=None):
 
                 ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000001) != 0))
                 p1 = ax.get_xlim()[0] + 0.02 * (ax.get_xlim()[1] - ax.get_xlim()[0])
-                if r: ax.text(p1, -cnt * 1.5, 'Motion Gyr Sig')
+                if r: ax.text(p1, -cnt * 1.5, 'Motion Gyr')
                 cnt += 1
                 ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000002) != 0))
-                if r: ax.text(p1, -cnt * 1.5, 'Motion Acc Sig')
+                if r: ax.text(p1, -cnt * 1.5, 'Motion Acc')
                 cnt += 1
                 ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000004) != 0))
-                if r: ax.text(p1, -cnt * 1.5, 'Motion Gyr Dev')
-                cnt += 1
-                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000005) != 0))
-                if r: ax.text(p1, -cnt * 1.5, 'Motion Acc Dev')
+                if r: ax.text(p1, -cnt * 1.5, 'Fault Detect Gyr')
                 cnt += 1
-                cnt += 1
-
-                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000010) != 0))
-                if r: ax.text(p1, -cnt * 1.5, 'Satellite Rx')
+                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000008) != 0))
+                if r: ax.text(p1, -cnt * 1.5, 'Fault Detect Acc')
                 cnt += 1
                 cnt += 1
 
@@ -1256,6 +1264,20 @@ def hdwStatus(self, fig=None, axs=None):
                 cnt += 1
                 cnt += 1
 
+                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000010) != 0))
+                if r: ax.text(p1, -cnt * 1.5, 'Satellite Rx')
+                cnt += 1
+                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000020) != 0))
+                if r: ax.text(p1, -cnt * 1.5, 'Strong In')
+                cnt += 1
+                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000040) != 0))
+                if r: ax.text(p1, -cnt * 1.5, 'GPS TOW Valid')
+                cnt += 1
+                ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00000080) != 0))
+                if r: ax.text(p1, -cnt * 1.5, 'Ref IMU Rx')
+                cnt += 1
+                cnt += 1
+
                 ax.plot(instime, -cnt * 1.5 + ((hStatus & 0x00002000) != 0))
                 if r: ax.text(p1, -cnt * 1.5, 'EKF using ref. IMU')
                 cnt += 1

diff --git a/src/data_sets.h b/src/data_sets.h
@@ -314,11 +314,11 @@ enum eHdwStatusFlags
     /** Unit is moving and NOT stationary */
     HDW_STATUS_MOTION_MASK                      = (int)0x00000003,
     /** IMU gyro fault detection. One of the redundant gyro sensors is not in agreement and being excluded. */
-    HDW_STATUS_IMU_GYR_FAULT                    = (int)0x00000004,
+    HDW_STATUS_IMU_FAULT_DETECT_GYR             = (int)0x00000004,
     /** IMU accelerometer fault detection. One of the redundant accelerometer sensors is not in agreement and being excluded. */
-    HDW_STATUS_IMU_ACC_FAULT                    = (int)0x00000008,
+    HDW_STATUS_IMU_FAULT_DETECT_ACC             = (int)0x00000008,
     /** IMU fault detection mask. One of the redundant IMU sensors is not in agreement and being excluded. */
-    HDW_STATUS_IMU_FAULT_MASK                   = (int)0x0000000C,
+    HDW_STATUS_IMU_FAULT_DETECT_MASK            = (int)0x0000000C,
 
     /** GPS satellite signals are being received (antenna and cable are good). Unset indicates weak signal or no output from GPS receiver. */
     HDW_STATUS_GPS_SATELLITE_RX                 = (int)0x00000010,