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autotest: remove retry loop from within fly_dynamic_notches

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We retried externally to the test - may as well do so within
This commit is contained in:
Peter Barker 2021-05-01 19:37:55 +10:00 committed by Peter Barker
parent 8fcb03350b
commit 4928ec18af
1 changed files with 40 additions and 45 deletions
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85
Tools/autotest/arducopter.py
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@ -4356,58 +4356,53 @@ class AutoTestCopter(AutoTest):
self.context_push()
ex = None
# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
for loop in ["first", "second"]:
try:
self.set_rc_default()
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("INS_LOG_BAT_MASK", 3)
self.set_parameter("INS_LOG_BAT_OPT", 0)
# set the gyro filter high so we can observe behaviour
self.set_parameter("INS_GYRO_FILTER", 100)
self.set_parameter("LOG_BITMASK", 958)
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("SIM_VIB_MOT_MAX", 350)
self.set_parameter("SIM_GYR1_RND", 20)
self.reboot_sitl()
try:
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_VIB_MOT_MAX": 350,
"SIM_GYR1_RND": 20,
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
self.takeoff(10, mode="ALT_HOLD")
# find a motor peak
freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
# find a motor peak
freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 200, 300)
# now add a dynamic notch and check that the peak is squashed
self.set_parameter("INS_LOG_BAT_OPT", 2)
self.set_parameter("INS_HNTCH_ENABLE", 1)
self.set_parameter("INS_HNTCH_FREQ", freq)
self.set_parameter("INS_HNTCH_REF", vfr_hud.throttle/100.)
# first and third harmonic
self.set_parameter("INS_HNTCH_HMNCS", 5)
self.set_parameter("INS_HNTCH_ATT", 50)
self.set_parameter("INS_HNTCH_BW", freq/2)
self.reboot_sitl()
# now add a dynamic notch and check that the peak is squashed
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": vfr_hud.throttle/100.,
"INS_HNTCH_HMNCS": 5, # first and third harmonic
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": freq/2,
})
self.reboot_sitl()
freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
# now add double dynamic notches and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 1)
self.reboot_sitl()
# now add double dynamic notches and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 1)
self.reboot_sitl()
freq, vfr_hud, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
freq, vfr_hud, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# double-notch should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Double-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
# double-notch should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Double-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
except Exception as e:
self.print_exception_caught(e)
self.progress("Exception caught in %s loop" % (loop,))
if loop != "second":
continue
ex = e
break
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
@ -6948,7 +6943,7 @@ class AutoTestCopter(AutoTest):
Test("DynamicNotches",
"Fly Dynamic Notches",
self.fly_dynamic_notches,
attempts=4),
attempts=8),
Test("PositionWhenGPSIsZero",
"Ensure position doesn't zero when GPS lost",