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autotest: test gains are saved by autotune

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Andy Piper 2020-06-27 11:49:17 +01:00 committed by Peter Barker
parent fd96cdf6e0
commit 4147f0cce3
1 changed files with 87 additions and 2 deletions
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89
Tools/autotest/arducopter.py
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@ -1669,9 +1669,12 @@ class AutoTestCopter(AutoTest):
if ex is not None:
raise ex
# fly_autotune - autotune the virtual vehicle
def fly_autotune(self):
"""Test autotune mode"""
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
self.takeoff(10)
# hold position in loiter
@ -1694,10 +1697,90 @@ class AutoTestCopter(AutoTest):
# near enough for now:
self.change_mode('LAND')
self.wait_disarmed()
# check the original gains have been re-instated
if (rlld != self.get_parameter("ATC_RAT_RLL_D")
or rlli != self.get_parameter("ATC_RAT_RLL_I")
or rllp != self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains still present")
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
(self.get_sim_time() - tstart))
def fly_autotune_switch(self):
"""Test autotune on a switch with gains being saved"""
self.set_parameter("RC8_OPTION", 17)
self.set_parameter("ATC_RAT_RLL_FLTT", 20)
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
rllt = self.get_parameter("ATC_RAT_RLL_FLTT")
self.progress("AUTOTUNE pre-gains are P:%f I:%f D:%f" % ((self.get_parameter("ATC_RAT_RLL_P")),
self.get_parameter("ATC_RAT_RLL_I"), self.get_parameter("ATC_RAT_RLL_D")))
self.takeoff(10, mode = 'LOITER')
# hold position in loiter and run autotune
self.set_rc(8, 1850)
self.wait_mode('AUTOTUNE')
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# Check original gains are re-instated
self.set_rc(8, 1100)
self.delay_sim_time(1)
self.progress("AUTOTUNE original gains are P:%f I:%f D:%f" % \
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"), \
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld != self.get_parameter("ATC_RAT_RLL_D")
or rlli != self.get_parameter("ATC_RAT_RLL_I")
or rllp != self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains still present")
# Use autotuned gains
self.set_rc(8, 1850)
self.delay_sim_time(1)
self.progress("AUTOTUNE testing gains are P:%f I:%f D:%f" % \
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"), \
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld == self.get_parameter("ATC_RAT_RLL_D")
or rlli == self.get_parameter("ATC_RAT_RLL_I")
or rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
# land without changing mode
self.set_rc(3, 1000)
self.wait_for_alt(0)
self.wait_disarmed()
# Check gains are still there after disarm
if (rlld == self.get_parameter("ATC_RAT_RLL_D")
or rlli == self.get_parameter("ATC_RAT_RLL_I")
or rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present on disarm")
self.reboot_sitl()
# Check gains are still there after reboot
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present on reboot")
# Check FLTT is unchanged
if rllt != self.get_parameter("ATC_RAT_RLL_FLTT"):
raise NotAchievedException("AUTOTUNE FLTT was modified")
return
raise NotAchievedException("AUTOTUNE failed (%u seconds)" %
(self.get_sim_time() - tstart))
# fly_auto_test - fly mission which tests a significant number of commands
def fly_auto_test(self):
@ -4905,6 +4988,8 @@ class AutoTestCopter(AutoTest):
("AutoTune", "Fly AUTOTUNE mode", self.fly_autotune),
("AutoTuneSwitch", "Fly AUTOTUNE on a switch", self.fly_autotune_switch),
("ThrowMode", "Fly Throw Mode", self.fly_throw_mode),
("BrakeMode", "Fly Brake Mode", self.fly_brake_mode),