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autotest: make tempcal debug output clearer

This commit is contained in:
Andrew Tridgell 2021-01-18 11:41:42 +11:00 committed by Peter Barker
parent d0d480e858
commit 2cf7e7945c
1 changed files with 38 additions and 22 deletions
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60
Tools/autotest/arduplane.py
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@ -1920,8 +1920,8 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT1_GYR3_X" : -0.003572,
"SIM_IMUT1_GYR3_Y" : 0.036346,
"SIM_IMUT1_GYR3_Z" : 0.015457,
"SIM_IMUT1_TMAX" : 42.0,
"SIM_IMUT1_TMIN" : 4.000000,
"SIM_IMUT1_TMAX" : 70.0,
"SIM_IMUT1_TMIN" : -20.000000,
"SIM_IMUT2_ENABLE" : 1,
"SIM_IMUT2_ACC1_X" : -160000.000000,
"SIM_IMUT2_ACC1_Y" : 198730.000000,
@ -1941,8 +1941,8 @@ class AutoTestPlane(AutoTest):
"SIM_IMUT2_GYR3_X" : 0.004831,
"SIM_IMUT2_GYR3_Y" : -0.020528,
"SIM_IMUT2_GYR3_Z" : 0.009469,
"SIM_IMUT2_TMAX" : 42.000000,
"SIM_IMUT2_TMIN" : 4.000000,
"SIM_IMUT2_TMAX" : 70.000000,
"SIM_IMUT2_TMIN" : -20.000000,
"SIM_IMUT_END" : 45.000000,
"SIM_IMUT_START" : 3.000000,
"SIM_IMUT_TCONST" : 75.000000,
@ -2021,7 +2021,11 @@ class AutoTestPlane(AutoTest):
gyro_threshold = 1.0
accel_threshold = 0.5
for temp in range(10,45,5):
test_temperatures = range(10,45,5)
corrected = {}
uncorrected = {}
for temp in test_temperatures:
self.progress("Testing temperature %.1f" % temp)
self.set_parameter("SIM_IMUT_FIXED", temp)
self.wait_heartbeat()
@ -2037,23 +2041,15 @@ class AutoTestPlane(AutoTest):
accel = self.get_accelvec(m)
gyro = self.get_gyrovec(m)
self.progress("Checking corrected %s gyros at %.1fC length=%.1f" % (msg, temp, gyro.length()))
if gyro.length() > gyro_threshold:
raise NotAchievedException("incorrect corrected %s gyro %s" % (msg, gyro))
accel2 = accel + Vector3(0,0,9.81)
self.progress("Checking corrected %s accels at %.1fC length=%.1f" % (msg, temp, accel2.length()))
if accel2.length() > accel_threshold:
raise NotAchievedException("incorrect corrected %s accel %s" % (msg, accel))
corrected[temperature] = (accel2, gyro)
self.progress("Testing with compensation disabled")
self.set_parameter("INS_TCAL1_ENABLE", 0)
self.set_parameter("INS_TCAL2_ENABLE", 0)
bad_value = False
for temp in range(10,45,5):
for temp in test_temperatures:
self.progress("Testing temperature %.1f" % temp)
self.set_parameter("SIM_IMUT_FIXED", temp)
self.wait_heartbeat()
@ -2073,15 +2069,35 @@ class AutoTestPlane(AutoTest):
accel = self.get_accelvec(m)
gyro = self.get_gyrovec(m)
self.progress("Checking uncorrected %s gyros at %.1fC length=%.1f" % (msg, temp, gyro.length()))
if gyro.length() > 2*gyro_threshold:
bad_value = True
accel2 = accel + Vector3(0,0,9.81)
self.progress("Checking uncorrected %s accels at %.1fC length=%.1f" % (msg, temp, accel2.length()))
uncorrected[temperature] = (accel2, gyro)
for temp in test_temperatures:
(accel, gyro) = corrected[temp]
self.progress("Corrected gyro at %.1f %s" % (temp, gyro))
self.progress("Corrected accel at %.1f %s" % (temp, accel))
for temp in test_temperatures:
(accel, gyro) = uncorrected[temp]
self.progress("Uncorrected gyro at %.1f %s" % (temp, gyro))
self.progress("Uncorrected accel at %.1f %s" % (temp, accel))
bad_value = False
for temp in test_temperatures:
(accel, gyro) = corrected[temp]
if gyro.length() > gyro_threshold:
raise NotAchievedException("incorrect corrected at %.1f gyro %s" % (temp, gyro))
if accel.length() > accel_threshold:
raise NotAchievedException("incorrect corrected at %.1f accel %s" % (temp, accel))
(accel, gyro) = uncorrected[temp]
if gyro.length() > gyro_threshold*2:
bad_value = True
if accel.length() > accel_threshold*2:
bad_value = True
if accel2.length() > 2*accel_threshold:
bad_value = True
if not bad_value:
raise NotAchievedException("uncompensated IMUs did not vary enough")