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autotest: make and declare quadplane.py flake8-clean

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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 from __future__ import print_function
import os import os
import numpy import numpy
@ -11,7 +15,6 @@ from pymavlink import mavutil
from common import AutoTest from common import AutoTest
from common import AutoTestTimeoutException, NotAchievedException, PreconditionFailedException from common import AutoTestTimeoutException, NotAchievedException, PreconditionFailedException
from pysim import vehicleinfo
import operator import operator
@ -64,7 +67,7 @@ class AutoTestQuadPlane(AutoTest):
pass pass
def defaults_filepath(self): def defaults_filepath(self):
return self.model_defaults_filepath("ArduPlane",self.frame) return self.model_defaults_filepath("ArduPlane", self.frame)
def is_plane(self): def is_plane(self):
return True return True
@ -108,7 +111,7 @@ class AutoTestQuadPlane(AutoTest):
self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq) self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq)
"""set Q_OPTIONS bit AIRMODE""" """set Q_OPTIONS bit AIRMODE"""
airmode_option_bit = (1<<9) airmode_option_bit = (1 << 9)
self.set_parameter("Q_OPTIONS", airmode_option_bit) self.set_parameter("Q_OPTIONS", airmode_option_bit)
armdisarm_option = 41 armdisarm_option = 41
@ -164,7 +167,24 @@ class AutoTestQuadPlane(AutoTest):
self.set_parameter("AHRS_TRIM_X", math.radians(-60)) self.set_parameter("AHRS_TRIM_X", math.radians(-60))
self.wait_roll(60, 1) self.wait_roll(60, 1)
# test all modes except QSTABILIZE, QACRO, AUTO and QAUTOTUNE # 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.progress("Testing %s mode" % mode)
self.change_mode(mode) self.change_mode(mode)
self.zero_throttle() self.zero_throttle()
@ -231,7 +251,6 @@ class AutoTestQuadPlane(AutoTest):
self.disarm_vehicle() self.disarm_vehicle()
self.wait_ready_to_arm() self.wait_ready_to_arm()
def test_motor_mask(self): def test_motor_mask(self):
"""Check operation of output_motor_mask""" """Check operation of output_motor_mask"""
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)""" """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') self.mavproxy.send('disarm\n')
try: try:
self.wait_text("AutoTune: Saved gains for Roll Pitch Yaw", timeout=0.5) self.wait_text("AutoTune: Saved gains for Roll Pitch Yaw", timeout=0.5)
except AutoTestTimeoutException as e: except AutoTestTimeoutException:
continue continue
break break
self.wait_disarmed() self.wait_disarmed()
@ -468,7 +487,7 @@ class AutoTestQuadPlane(AutoTest):
"FFT_SNR_REF": 10, "FFT_SNR_REF": 10,
"FFT_WINDOW_SIZE": 128, "FFT_WINDOW_SIZE": 128,
"FFT_WINDOW_OLAP": 0.75, "FFT_WINDOW_OLAP": 0.75,
}); })
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft # 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 # can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
# a 250Hz peak should be detectable within 5% # a 250Hz peak should be detectable within 5%