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Autotest: Heli: Update autorotation tests following restructure

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Tools: fix autotest helicopter.py formatting
This commit is contained in:
Gone4Dirt 2024-09-09 16:41:55 +01:00 committed by Andrew Tridgell
parent 870e56b93a
commit 4343f21a2d
1 changed files with 44 additions and 6 deletions
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50
Tools/autotest/helicopter.py
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@ -309,6 +309,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_parameters({
"AROT_ENABLE": 1,
"H_RSC_AROT_ENBL": 1,
"H_COL_LAND_MIN" : -2.0
})
bail_out_time = self.get_parameter('H_RSC_AROT_RUNUP')
self.change_mode('POSHOLD')
@ -333,13 +334,12 @@ class AutoTestHelicopter(AutoTestCopter):
# Change to the autorotation flight mode
self.progress("Triggering autorotate mode")
self.change_mode('AUTOROTATE')
self.delay_sim_time(2)
# Disengage the interlock to remove power
self.set_rc(8, 1000)
# Ensure we have progressed through the mode's state machine
self.wait_statustext("SS Glide Phase", check_context=True)
self.wait_statustext("Glide Phase", check_context=True)
self.progress("Testing bailout from autorotation")
self.set_rc(8, 2000)
@ -361,6 +361,43 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_disarmed()
self.context_pop()
def AutorotationPreArm(self):
"""Check autorotation pre-arms are working"""
self.context_push()
self.start_subtest("Check pass when autorotation mode not enabled")
self.set_parameters({
"AROT_ENABLE": 0,
"RPM1_TYPE": 0
})
self.reboot_sitl()
try:
self.wait_statustext("PreArm: AROT: RPM1 not enabled", timeout=50)
raise NotAchievedException("Received AROT prearm when not AROT not enabled")
except AutoTestTimeoutException:
# We want to hit the timeout on wait_statustext()
pass
self.start_subtest("Check pre-arm fails when autorotation mode enabled")
self.set_parameter("AROT_ENABLE", 1)
self.wait_statustext("PreArm: AROT: RPM1 not enabled", timeout=50)
self.set_parameter("RPM1_TYPE", 10) # reboot required to take effect
self.reboot_sitl()
self.start_subtest("Check pre-arm fails with bad HS_Sensor config")
self.context_push()
self.set_parameter("AROT_HS_SENSOR", -1)
self.wait_statustext("PreArm: AROT: RPM instance <0", timeout=50)
self.context_pop()
self.start_subtest("Check pre-arm fails with bad RSC config")
self.wait_statustext("PreArm: AROT: H_RSC_AROT_* not configured", timeout=50)
self.start_subtest("Check pre-arms clear with all issues corrected")
self.set_parameter("H_RSC_AROT_ENBL", 1)
self.wait_ready_to_arm()
self.context_pop()
def ManAutorotation(self, timeout=600):
"""Check autorotation power recovery behaviour"""
RSC_CHAN = 8
@ -473,19 +510,19 @@ class AutoTestHelicopter(AutoTestCopter):
# We test the bailout behavior of two different configs
# First we test config with a regular throttle curve
self.progress("testing autorotation with throttle curve config")
self.start_subtest("testing autorotation with throttle curve config")
self.context_push()
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=0)
# Now we test a config that would be used with an ESC with internal governor and an autorotation window
self.progress("testing autorotation with ESC autorotation window config")
self.start_subtest("testing autorotation with ESC autorotation window config")
TestAutorotationConfig(self, rsc_idle=0.0, arot_ramp_time=0.0, arot_idle=20.0, cool_down=0)
# Check rsc output behavior when using the cool down feature
self.progress("testing autorotation with cool down enabled and zero autorotation idle")
self.start_subtest("testing autorotation with cool down enabled and zero autorotation idle")
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=5.0)
self.progress("testing that H_RSC_AROT_IDLE is used over RSC_IDLE when cool down is enabled")
self.start_subtest("testing that H_RSC_AROT_IDLE is used over RSC_IDLE when cool down is enabled")
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=10, cool_down=5.0)
self.context_pop()
@ -1154,6 +1191,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.PosHoldTakeOff,
self.StabilizeTakeOff,
self.SplineWaypoint,
self.AutorotationPreArm,
self.Autorotation,
self.ManAutorotation,
self.governortest,