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autotest: make and declare quadplane.py flake8-clean

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This commit is contained in:
Peter Barker 2021-02-19 10:58:35 +11:00 committed by Peter Barker
parent c13d229877
commit 05c9b79a5e
1 changed files with 28 additions and 9 deletions
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37
Tools/autotest/quadplane.py
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@ -1,6 +1,10 @@
#!/usr/bin/env python
'''
Fly ArduPlane QuadPlane in SITL
AP_FLAKE8_CLEAN
'''
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import numpy
@ -11,7 +15,6 @@ from pymavlink import mavutil
from common import AutoTest
from common import AutoTestTimeoutException, NotAchievedException, PreconditionFailedException
from pysim import vehicleinfo
import operator
@ -64,7 +67,7 @@ class AutoTestQuadPlane(AutoTest):
pass
def defaults_filepath(self):
return self.model_defaults_filepath("ArduPlane",self.frame)
return self.model_defaults_filepath("ArduPlane", self.frame)
def is_plane(self):
return True
@ -108,7 +111,7 @@ class AutoTestQuadPlane(AutoTest):
self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq)
"""set Q_OPTIONS bit AIRMODE"""
airmode_option_bit = (1<<9)
airmode_option_bit = (1 << 9)
self.set_parameter("Q_OPTIONS", airmode_option_bit)
armdisarm_option = 41
@ -164,7 +167,24 @@ class AutoTestQuadPlane(AutoTest):
self.set_parameter("AHRS_TRIM_X", math.radians(-60))
self.wait_roll(60, 1)
# test all modes except QSTABILIZE, QACRO, AUTO and QAUTOTUNE
for mode in ('QLOITER', 'QHOVER', 'CIRCLE', 'STABILIZE', 'TRAINING', 'ACRO', 'FBWA', 'FBWB', 'CRUISE', 'AUTOTUNE', 'RTL', 'LOITER', 'AVOID_ADSB', 'GUIDED', 'QLAND', 'QRTL'):
for mode in (
'ACRO',
'AUTOTUNE',
'AVOID_ADSB',
'CIRCLE',
'CRUISE',
'FBWA',
'FBWB',
'GUIDED',
'LOITER',
'QHOVER',
'QLAND',
'QLOITER',
'QRTL',
'RTL',
'STABILIZE',
'TRAINING',
):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
@ -231,7 +251,6 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle()
self.wait_ready_to_arm()
def test_motor_mask(self):
"""Check operation of output_motor_mask"""
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
@ -314,7 +333,7 @@ class AutoTestQuadPlane(AutoTest):
self.mavproxy.send('disarm\n')
try:
self.wait_text("AutoTune: Saved gains for Roll Pitch Yaw", timeout=0.5)
except AutoTestTimeoutException as e:
except AutoTestTimeoutException:
continue
break
self.wait_disarmed()
@ -468,7 +487,7 @@ class AutoTestQuadPlane(AutoTest):
"FFT_SNR_REF": 10,
"FFT_WINDOW_SIZE": 128,
"FFT_WINDOW_OLAP": 0.75,
});
})
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
# a 250Hz peak should be detectable within 5%