mirror of https://github.com/ArduPilot/ardupilot
autotest: test for scripted notches
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@ -6405,6 +6405,43 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
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})
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self.reboot_sitl()
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self.hover_and_check_matched_frequency_with_fft(dblevel=-15, minhz=20, maxhz=350, reverse=True, instance=2)
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def StaticScriptedNotches(self):
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"""Use a scripted static harmonic notch to control motor noise."""
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self.progress("Flying with Scripted Static notches")
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self.set_parameters({
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"AHRS_EKF_TYPE": 10,
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"INS_LOG_BAT_MASK": 3,
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"INS_LOG_BAT_OPT": 4,
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"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
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"LOG_BITMASK": 65535,
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"LOG_DISARMED": 0,
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"SIM_VIB_FREQ_X": 120, # roll
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"SIM_VIB_FREQ_Y": 120, # pitch
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"SIM_VIB_FREQ_Z": 120, # yaw
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"SIM_VIB_MOT_MULT": 0,
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"SIM_GYR1_RND": 5,
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"INS_HNTCH_ENABLE": 1,
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#"INS_HNTCH_FREQ": 120,
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"INS_HNTCH_REF": 1.0,
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"INS_HNTCH_HMNCS": 1, # first and second harmonic
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"INS_HNTCH_ATT": 50,
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"INS_HNTCH_BW": 40,
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"INS_HNTCH_MODE": 6, # static notch
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"SCR_ENABLE": 1,
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})
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# install copter-posoffset script
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self.install_test_script_context('static_notches.lua')
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self.reboot_sitl()
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self.set_parameters({
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"SNOTCH1_FREQ": 120,
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"SNOTCH2_FREQ": 240,
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})
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self.hover_and_check_matched_frequency_with_fft(dblevel=-15, minhz=20, maxhz=350, reverse=True, instance=2)
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def ThrottleGainBoost(self):
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@ -12177,6 +12214,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
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self.DynamicRpmNotches, # Do not add attempts to this - failure is sign of a bug
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self.PIDNotches,
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self.StaticNotches,
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self.StaticScriptedNotches,
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self.RefindGPS,
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Test(self.GyroFFT, attempts=1, speedup=8),
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Test(self.GyroFFTHarmonic, attempts=4, speedup=8),
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