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Tools: copter autotest integrates MNT param changes

This commit is contained in:
Randy Mackay 2022-08-30 16:42:18 +09:00
parent b9a3c4bd0d
commit 4108e4b77f
1 changed files with 24 additions and 18 deletions
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42
Tools/autotest/arducopter.py
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@ -4584,10 +4584,10 @@ class AutoTestCopter(AutoTest):
'''configure a rpy servo mount; caller responsible for required rebooting'''
self.progress("Setting up servo mount")
self.set_parameters({
"MNT_TYPE": 1,
"MNT_STAB_ROLL": 1,
"MNT_STAB_TILT": 1,
"MNT_RC_IN_TILT": 6,
"MNT1_TYPE": 1,
"MNT1_PITCH_MIN": -45,
"MNT1_PITCH_MAX": 45,
"RC6_OPTION": 213, # MOUNT1_PITCH
"SERVO%u_FUNCTION" % roll_servo: 8, # roll
"SERVO%u_FUNCTION" % pitch_servo: 7, # pitch
"SERVO%u_FUNCTION" % yaw_servo: 6, # yaw
@ -4609,8 +4609,8 @@ class AutoTestCopter(AutoTest):
'''set mount mode'''
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOUNT_CONFIGURE,
mount_mode,
1, # stabilize roll
1, # stabilize pitch
0, # stabilize roll (unsupported)
0, # stabilize pitch (unsupported)
0, 0, 0, 0)
def test_mount(self):
@ -4735,9 +4735,15 @@ class AutoTestCopter(AutoTest):
try:
self.context_push()
self.set_parameters({
'MNT_RC_IN_ROLL': 11,
'MNT_RC_IN_TILT': 12,
'MNT_RC_IN_PAN': 13,
'RC6_OPTION': 0,
'RC11_OPTION': 212, # MOUNT1_ROLL
'RC12_OPTION': 213, # MOUNT1_PITCH
'RC13_OPTION': 214, # MOUNT1_YAW
'RC12_MIN': 1100,
'RC12_MAX': 1900,
'RC12_TRIM': 1500,
'MNT1_PITCH_MIN': -45,
'MNT1_PITCH_MAX': 45,
})
self.progress("Testing RC angular control")
# default RC min=1100 max=1900
@ -4751,9 +4757,9 @@ class AutoTestCopter(AutoTest):
rc12_in = 1400
rc12_min = 1100 # default
rc12_max = 1900 # default
angmin_tilt = -45.0 # default
angmax_tilt = 45.0 # default
expected_pitch = (float(rc12_in-rc12_min)/float(rc12_max-rc12_min) * (angmax_tilt-angmin_tilt)) + angmin_tilt
mpitch_min = -45.0
mpitch_max = 45.0
expected_pitch = (float(rc12_in-rc12_min)/float(rc12_max-rc12_min) * (mpitch_max-mpitch_min)) + mpitch_min
self.progress("expected mount pitch: %f" % expected_pitch)
if expected_pitch != -11.25:
raise NotAchievedException("Calculation wrong - defaults changed?!")
@ -4772,8 +4778,8 @@ class AutoTestCopter(AutoTest):
self.set_parameters({
"RC12_MIN": 1000,
"RC12_MAX": 2000,
"MNT_ANGMIN_TIL": -9000,
"MNT_ANGMAX_TIL": 1000,
"MNT1_PITCH_MIN": -90,
"MNT1_PITCH_MAX": 10,
})
self.set_rc(12, 1000)
self.test_mount_pitch(-90.00, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
@ -4787,7 +4793,7 @@ class AutoTestCopter(AutoTest):
self.set_rc(12, 1500)
self.progress("Testing RC rate control")
self.set_parameter('MNT_RC_RATE', 10)
self.set_parameter('MNT1_RC_RATE', 10)
self.test_mount_pitch(0, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.set_rc(12, 1300)
self.test_mount_pitch(-5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
@ -4802,7 +4808,7 @@ class AutoTestCopter(AutoTest):
self.test_mount_pitch(5, 1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
self.progress("Reverting to angle mode")
self.set_parameter('MNT_RC_RATE', 0)
self.set_parameter('MNT1_RC_RATE', 0)
self.set_rc(12, 1500)
self.test_mount_pitch(0, 0.1, mavutil.mavlink.MAV_MOUNT_MODE_RC_TARGETING)
@ -4945,7 +4951,7 @@ class AutoTestCopter(AutoTest):
self.mav.mav.srcSystem = old_srcSystem
self.disarm_vehicle(force=True)
self.reboot_sitl() # to handle MNT_TYPE changing
self.reboot_sitl() # to handle MNT1_TYPE changing
if ex is not None:
raise ex
@ -4956,7 +4962,7 @@ class AutoTestCopter(AutoTest):
self.set_parameter("SYSID_MYGCS", self.mav.source_system)
yaw_servo = 7
self.setup_servo_mount(yaw_servo=yaw_servo)
self.reboot_sitl() # to handle MNT_TYPE changing
self.reboot_sitl() # to handle MNT1_TYPE changing
self.progress("checking ArduCopter yaw-aircraft-for-roi")
ex = None