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autotest: static notch test

This commit is contained in:
Andy Piper 2024-09-07 16:45:49 +01:00 committed by Peter Barker
parent a8575e0646
commit 1ef89d31f2
1 changed files with 30 additions and 0 deletions
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30
Tools/autotest/arducopter.py
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@ -6011,6 +6011,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def hover_and_check_matched_frequency_with_fft_and_psd(self, dblevel=-15, minhz=200, maxhz=300, peakhz=None,
reverse=None, takeoff=True, instance=0):
'''Takeoff and hover, checking the noise against the provided db level and returning psd'''
# find a motor peak
if takeoff:
self.takeoff(10, mode="ALT_HOLD")
@ -6041,6 +6042,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
def hover_and_check_matched_frequency_with_fft(self, dblevel=-15, minhz=200, maxhz=300, peakhz=None,
reverse=None, takeoff=True, instance=0):
'''Takeoff and hover, checking the noise against the provided db level and returning peak db'''
freq, hover_throttle, peakdb, psd = \
self.hover_and_check_matched_frequency_with_fft_and_psd(dblevel, minhz,
maxhz, peakhz, reverse, takeoff, instance)
@ -6335,6 +6337,33 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.hover_and_check_matched_frequency_with_fft(dblevel=5, minhz=20, maxhz=350, reverse=True)
def StaticNotches(self):
"""Use static harmonic notch to control motor noise."""
self.progress("Flying with Static notches")
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 4,
"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
"LOG_BITMASK": 65535,
"LOG_DISARMED": 0,
"SIM_VIB_FREQ_X": 120, # roll
"SIM_VIB_FREQ_Y": 120, # pitch
"SIM_VIB_FREQ_Z": 120, # yaw
"SIM_VIB_MOT_MULT": 0,
"SIM_GYR1_RND": 5,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": 120,
"INS_HNTCH_REF": 1.0,
"INS_HNTCH_HMNCS": 3, # first and second harmonic
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": 40,
"INS_HNTCH_MODE": 0, # static notch
})
self.reboot_sitl()
self.hover_and_check_matched_frequency_with_fft(dblevel=-15, minhz=20, maxhz=350, reverse=True, instance=2)
def ThrottleGainBoost(self):
"""Use PD and Angle P boost for anti-gravity."""
# basic gyro sample rate test
@ -11868,6 +11897,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
self.PositionWhenGPSIsZero,
self.DynamicRpmNotches, # Do not add attempts to this - failure is sign of a bug
self.PIDNotches,
self.StaticNotches,
self.RefindGPS,
Test(self.GyroFFT, attempts=1, speedup=8),
Test(self.GyroFFTHarmonic, attempts=4, speedup=8),