Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Tools: rover: add test for slew rate

Browse Source
This commit is contained in:
Pierre Kancir 2020-07-23 18:01:02 +02:00 committed by Randy Mackay
parent fe3d6b9744
commit 07ffac429b
1 changed files with 80 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
Tools/autotest/rover.py
View File

@ -5264,6 +5264,82 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.set_rc(3, 1600)
self.wait_heading(60)
def test_slew_rate(self):
"""Test Motor Slew Rate feature."""
self.context_push()
self.change_mode("MANUAL")
self.wait_ready_to_arm()
self.arm_vehicle()
self.start_subtest("Test no slew behavior")
throttle_channel = 3
throttle_max = 2000
self.set_parameter("MOT_SLEWRATE", 0)
self.set_rc(throttle_channel, throttle_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(throttle_channel, throttle_max)
tstop = self.get_sim_time()
achieved_time = tstop - tstart
self.progress("achieved_time: %0.1fs" % achieved_time)
if achieved_time > 0.5:
raise NotAchievedException("Output response should be instant, got %f" % achieved_time)
self.zero_throttle()
self.wait_groundspeed(0, 0.5) # why do we not stop?!
self.start_subtest("Test 100% slew rate")
self.set_parameter("MOT_SLEWRATE", 100)
self.set_rc(throttle_channel, throttle_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(throttle_channel, throttle_max)
tstop = self.get_sim_time()
achieved_time = tstop - tstart
self.progress("achieved_time: %0.1fs" % achieved_time)
if achieved_time < 0.9 or achieved_time > 1.1:
raise NotAchievedException("Output response should be 1s, got %f" % achieved_time)
self.zero_throttle()
self.wait_groundspeed(0, 0.5) # why do we not stop?!
self.start_subtest("Test 50% slew rate")
self.set_parameter("MOT_SLEWRATE", 50)
self.set_rc(throttle_channel, throttle_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10)
tstop = self.get_sim_time()
achieved_time = tstop - tstart
self.progress("achieved_time: %0.1fs" % achieved_time)
if achieved_time < 1.8 or achieved_time > 2.2:
raise NotAchievedException("Output response should be 2s, got %f" % achieved_time)
self.zero_throttle()
self.wait_groundspeed(0, 0.5) # why do we not stop?!
self.start_subtest("Test 25% slew rate")
self.set_parameter("MOT_SLEWRATE", 25)
self.set_rc(throttle_channel, throttle_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=10)
tstop = self.get_sim_time()
achieved_time = tstop - tstart
self.progress("achieved_time: %0.1fs" % achieved_time)
if achieved_time < 3.6 or achieved_time > 4.4:
raise NotAchievedException("Output response should be 4s, got %f" % achieved_time)
self.zero_throttle()
self.wait_groundspeed(0, 0.5) # why do we not stop?!
self.start_subtest("Test 10% slew rate")
self.set_parameter("MOT_SLEWRATE", 10)
self.set_rc(throttle_channel, throttle_max)
tstart = self.get_sim_time()
self.wait_servo_channel_value(throttle_channel, throttle_max, timeout=20)
tstop = self.get_sim_time()
achieved_time = tstop - tstart
self.progress("achieved_time: %0.1fs" % achieved_time)
if achieved_time < 9 or achieved_time > 11:
raise NotAchievedException("Output response should be 10s, got %f" % achieved_time)
self.zero_throttle()
self.wait_groundspeed(0, 0.5) # why do we not stop?!
self.disarm_vehicle()
self.context_pop()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
@ -5426,6 +5502,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"PolyFence object avoidance tests - easier bendy ruler test",
self.test_poly_fence_object_avoidance_bendy_ruler_easier),
("SlewRate",
"Test output slew rate",
self.test_slew_rate),
("Scripting",
"Scripting test",
self.test_scripting),