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Tools: Tradheli add rotor_runup_complete_checks

This commit is contained in:
bnsgeyer 2018-10-10 18:47:35 -04:00 committed by Peter Barker
parent 332c73d168
commit 1191a5e1ea
1 changed files with 49 additions and 3 deletions
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52
Tools/autotest/arducopter.py
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@ -5249,6 +5249,46 @@ class AutoTestHeli(AutoTestCopter):
def loiter_requires_position(self):
self.progress("Skipping loiter-requires-position for heli; rotor runup issues")
def get_collective_out(self):
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
chan_pwm = (servo.servo1_raw + servo.servo2_raw + servo.servo3_raw)/3.0
return chan_pwm
def rotor_runup_complete_checks(self):
# Takeoff and landing in Loiter
TARGET_RUNUP_TIME = 10
self.zero_throttle()
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
servo = self.mav.recv_match(type='SERVO_OUTPUT_RAW', blocking=True)
coll = servo.servo1_raw
coll = coll + 50
self.set_parameter("H_RSC_RUNUP_TIME", TARGET_RUNUP_TIME)
self.progress("Initiate Runup by putting some throttle")
self.set_rc(8, 2000)
self.set_rc(3, 1700)
self.progress("Collective threshold PWM %u" % coll)
tstart = self.get_sim_time()
self.progress("Wait that collective PWM pass threshold value")
servo = self.mav.recv_match(condition='SERVO_OUTPUT_RAW.servo1_raw>%u' % coll, blocking=True)
runup_time = self.get_sim_time() - tstart
self.progress("Collective is now at PWM %u" % servo.servo1_raw)
self.mav.wait_heartbeat()
if runup_time < TARGET_RUNUP_TIME:
self.zero_throttle()
self.set_rc(8, 1000)
self.disarm_vehicle()
self.mav.wait_heartbeat()
raise NotAchievedException("Takeoff initiated before runup time complete %u" % runup_time)
self.progress("Runup time %u" % runup_time)
self.zero_throttle()
self.set_rc(8, 1000)
self.mavproxy.send('mode LAND\n')
self.wait_mode('LAND')
self.mav.motors_disarmed_wait()
self.mav.wait_heartbeat()
# fly_avc_test - fly AVC mission
def fly_avc_test(self):
# Arm
@ -5300,12 +5340,14 @@ class AutoTestHeli(AutoTestCopter):
ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.mavproxy.send('mode POSHOLD\n')
self.wait_mode('POSHOLD')
self.set_rc(3, 1000)
self.change_mode('POSHOLD')
self.zero_throttle()
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
# Arm
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
@ -5451,6 +5493,10 @@ class AutoTestHeli(AutoTestCopter):
ret.extend([
("AVCMission", "Fly AVC mission", self.fly_avc_test),
("RotorRunUp",
"Test rotor runup",
self.rotor_runup_complete_checks),
("PosHoldTakeOff",
"Fly POSHOLD takeoff",
self.fly_heli_poshold_takeoff),