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Tools: Add Heli Autotune Autotest

This commit is contained in:
bnsgeyer 2024-02-28 18:21:16 -05:00 committed by Peter Barker
parent b78b79fa84
commit 0bdf073f38
1 changed files with 117 additions and 0 deletions
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117
Tools/autotest/helicopter.py
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@ -842,6 +842,122 @@ class AutoTestHelicopter(AutoTestCopter):
if ex is not None:
raise ex
def AutoTune(self):
"""Test autotune mode"""
# test roll and pitch FF tuning
self.set_parameters({
"ATC_ANG_RLL_P": 4.5,
"ATC_RAT_RLL_P": 0,
"ATC_RAT_RLL_I": 0.1,
"ATC_RAT_RLL_D": 0,
"ATC_RAT_RLL_FF": 0.15,
"ATC_ANG_PIT_P": 4.5,
"ATC_RAT_PIT_P": 0,
"ATC_RAT_PIT_I": 0.1,
"ATC_RAT_PIT_D": 0,
"ATC_RAT_PIT_FF": 0.15,
"ATC_ANG_YAW_P": 4.5,
"ATC_RAT_YAW_P": 0.18,
"ATC_RAT_YAW_I": 0.024,
"ATC_RAT_YAW_D": 0.003,
"ATC_RAT_YAW_FF": 0.024,
"AUTOTUNE_AXES": 3,
"AUTOTUNE_SEQ": 1,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test pitch rate P and Rate D tuning
self.set_parameters({
"AUTOTUNE_AXES": 2,
"AUTOTUNE_SEQ": 2,
"AUTOTUNE_GN_MAX": 2.0,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test Roll rate P and Rate D tuning
self.set_parameters({
"AUTOTUNE_AXES": 1,
"AUTOTUNE_SEQ": 2,
"AUTOTUNE_GN_MAX": 1.8,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test Roll and pitch angle P tuning
self.set_parameters({
"AUTOTUNE_AXES": 3,
"AUTOTUNE_SEQ": 4,
"AUTOTUNE_GN_MAX": 2.0,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test yaw FF, rate P and Rate D, and angle P tuning
self.set_parameters({
"AUTOTUNE_AXES": 4,
"AUTOTUNE_SEQ": 7,
"AUTOTUNE_GN_MAX": 2.0,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
def tests(self):
'''return list of all tests'''
ret = vehicle_test_suite.TestSuite.tests(self)
@ -859,6 +975,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.TurbineStart,
self.NastyMission,
self.PIDNotches,
self.AutoTune,
])
return ret