mirror of https://github.com/ArduPilot/ardupilot
autotest: remove retry loop from within GyroFFT
This effectively removes an infinite loop from the GyroFFT test.
This commit is contained in:
Peter Barker
Peter Barker
parent
765889b827
commit
0a235ce094
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@ -4624,141 +4624,147 @@ class AutoTestCopter(AutoTest):
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self.context_push()
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ex = None
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# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
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for loop in ["first" "second"]:
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try:
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("EK2_ENABLE", 0)
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self.set_parameter("EK3_ENABLE", 0)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("INS_FAST_SAMPLE", 0)
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self.set_parameter("LOG_BITMASK", 958)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR1_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 50)
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self.set_parameter("FFT_MAXHZ", 450)
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self.set_parameter("FFT_SNR_REF", 10)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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self.set_parameter("FFT_SAMPLE_MODE", 0)
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try:
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameters({
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"AHRS_EKF_TYPE": 10,
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"EK2_ENABLE": 0,
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"EK3_ENABLE": 0,
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"INS_LOG_BAT_MASK": 3,
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"INS_LOG_BAT_OPT": 0,
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"INS_GYRO_FILTER": 100,
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"INS_FAST_SAMPLE": 0,
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"LOG_BITMASK": 958,
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"LOG_DISARMED": 0,
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"SIM_DRIFT_SPEED": 0,
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"SIM_DRIFT_TIME": 0,
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"SIM_GYR1_RND": 20, # enable a noisy motor peak
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})
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# enabling FFT will also enable the arming check,
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# self-testing the functionality
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self.set_parameters({
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"FFT_ENABLE": 1,
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"FFT_MINHZ": 50,
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"FFT_MAXHZ": 450,
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"FFT_SNR_REF": 10,
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"FFT_WINDOW_SIZE": 128,
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"FFT_WINDOW_OLAP": 0.75,
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"FFT_SAMPLE_MODE": 0,
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})
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# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
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# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
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# a 250Hz peak should be detectable within 5%
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.set_parameter("SIM_VIB_FREQ_X", 250)
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self.set_parameter("SIM_VIB_FREQ_Y", 250)
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self.set_parameter("SIM_VIB_FREQ_Z", 250)
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# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
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# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
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# a 250Hz peak should be detectable within 5%
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.set_parameters({
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"SIM_VIB_FREQ_X": 250,
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"SIM_VIB_FREQ_Y": 250,
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"SIM_VIB_FREQ_Z": 250,
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})
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self.reboot_sitl()
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self.reboot_sitl()
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
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# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
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# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
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self.set_parameter("FFT_WINDOW_SIZE", 256)
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
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# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
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self.set_parameter("FFT_WINDOW_SIZE", 256)
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.reboot_sitl()
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self.reboot_sitl()
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 256, 250)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 256, 250)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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# Step 2: inject actual motor noise and use the standard length FFT to track it
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self.start_subtest("Hover and check that the FFT can find the motor noise")
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self.set_parameter("SIM_VIB_FREQ_X", 0)
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self.set_parameter("SIM_VIB_FREQ_Y", 0)
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self.set_parameter("SIM_VIB_FREQ_Z", 0)
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self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
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self.set_parameter("FFT_WINDOW_SIZE", 32)
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self.set_parameter("FFT_WINDOW_OLAP", 0.5)
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# Step 2: inject actual motor noise and use the standard length FFT to track it
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self.start_subtest("Hover and check that the FFT can find the motor noise")
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self.set_parameters({
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"SIM_VIB_FREQ_X": 0,
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"SIM_VIB_FREQ_Y": 0,
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"SIM_VIB_FREQ_Z": 0,
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"SIM_VIB_MOT_MAX": 250, # gives a motor peak at about 175Hz
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"FFT_WINDOW_SIZE": 32,
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"FFT_WINDOW_OLAP": 0.5,
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})
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 32)
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 32)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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# Step 3: add a FFT dynamic notch and check that the peak is squashed
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self.start_subtest("Add a dynamic notch, hover and check that the noise peak is now gone")
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self.set_parameter("INS_LOG_BAT_OPT", 2)
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self.set_parameter("INS_HNTCH_ENABLE", 1)
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self.set_parameter("INS_HNTCH_FREQ", freq)
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self.set_parameter("INS_HNTCH_REF", 1.0)
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self.set_parameter("INS_HNTCH_ATT", 50)
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self.set_parameter("INS_HNTCH_BW", freq/2)
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self.set_parameter("INS_HNTCH_MODE", 4)
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self.reboot_sitl()
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# Step 3: add a FFT dynamic notch and check that the peak is squashed
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self.start_subtest("Add a dynamic notch, hover and check that the noise peak is now gone")
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self.set_parameters({
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"INS_LOG_BAT_OPT": 2,
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"INS_HNTCH_ENABLE": 1,
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"INS_HNTCH_FREQ": freq,
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"INS_HNTCH_REF": 1.0,
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"INS_HNTCH_ATT": 50,
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"INS_HNTCH_BW": freq/2,
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"INS_HNTCH_MODE": 4,
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})
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self.reboot_sitl()
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self.takeoff(10, mode="ALT_HOLD")
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hover_time = 15
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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self.takeoff(10, mode="ALT_HOLD")
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hover_time = 15
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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# fly fast forrest!
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self.set_rc(3, 1900)
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self.set_rc(2, 1200)
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self.wait_groundspeed(5, 1000)
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self.set_rc(3, 1500)
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self.set_rc(2, 1500)
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# fly fast forrest!
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self.set_rc(3, 1900)
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self.set_rc(2, 1200)
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self.wait_groundspeed(5, 1000)
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self.set_rc(3, 1500)
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self.set_rc(2, 1500)
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
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scale = 1000. / 1024.
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sminhz = int(100 * scale)
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smaxhz = int(350 * scale)
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freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
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peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
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if peakdb < -9:
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self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
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else:
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raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, peakdb))
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# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
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scale = 1000. / 1024.
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sminhz = int(100 * scale)
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smaxhz = int(350 * scale)
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freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
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peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
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if peakdb < -9:
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self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
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else:
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raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, peakdb))
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# Step 4: loop sample rate test with larger window
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self.start_subtest("Hover and check that the FFT can find the motor noise when running at fast loop rate")
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# we are limited to half the loop rate for frequency detection
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self.set_parameter("FFT_MAXHZ", 185)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("SIM_VIB_MOT_MAX", 220)
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self.set_parameter("FFT_WINDOW_SIZE", 64)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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self.set_parameter("FFT_SAMPLE_MODE", 1)
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self.reboot_sitl()
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# Step 4: loop sample rate test with larger window
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self.start_subtest("Hover and check that the FFT can find the motor noise when running at fast loop rate")
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# we are limited to half the loop rate for frequency detection
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self.set_parameters({
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"FFT_MAXHZ": 185,
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"INS_LOG_BAT_OPT": 0,
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"SIM_VIB_MOT_MAX": 220,
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"FFT_WINDOW_SIZE": 64,
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"FFT_WINDOW_OLAP": 0.75,
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"FFT_SAMPLE_MODE": 1,
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})
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self.reboot_sitl()
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self.takeoff(10, mode="ALT_HOLD")
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self.takeoff(10, mode="ALT_HOLD")
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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self.do_RTL()
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# prevent update parameters from messing with the settings when we pop the context
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self.set_parameter("FFT_ENABLE", 0)
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self.reboot_sitl()
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self.do_RTL()
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# prevent update parameters from messing with the settings when we pop the context
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self.set_parameter("FFT_ENABLE", 0)
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self.reboot_sitl()
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except Exception as e:
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self.progress("Exception caught in %s loop" % (loop, ))
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if loop != "second":
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continue
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ex = e
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break
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except Exception as e:
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self.print_exception_caught(e)
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ex = e
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self.context_pop()
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@ -6951,7 +6957,7 @@ class AutoTestCopter(AutoTest):
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Test("GyroFFT",
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"Fly Gyro FFT",
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self.fly_gyro_fft,
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attempts=4),
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attempts=8),
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Test("GyroFFTHarmonic",
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"Fly Gyro FFT Harmonic Matching",
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