Autotest: Helicopter: Add turbine cooldown test

Tools/autotest/helicopter.py

@@ -15,6 +15,7 @@ from pymavlink import mavutil
 from pysim import vehicleinfo
 
 import copy
+import operator
 
 
 class AutoTestHelicopter(AutoTestCopter):
@@ -697,6 +698,52 @@ class AutoTestHelicopter(AutoTestCopter):
             self.disarm_vehicle()
             self.context_pop()
 
+    def TurbineCoolDown(self, timeout=200):
+        """Check Turbine Cool Down Feature"""
+        # set option for Turbine
+        RAMP_TIME = 4
+        SETPOINT = 66
+        IDLE = 15
+        COOLDOWN_TIME = 5
+        self.set_parameter("RC6_OPTION", 161)
+        self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
+        self.set_parameter("H_RSC_SETPOINT", SETPOINT)
+        self.set_parameter("H_RSC_IDLE", IDLE)
+        self.set_parameter("H_RSC_CLDWN_TIME", COOLDOWN_TIME)
+        self.set_rc(3, 1000)
+        self.set_rc(8, 1000)
+
+        self.progress("Starting turbine")
+        self.wait_ready_to_arm()
+        self.arm_vehicle()
+
+        self.set_rc(6, 2000)
+        self.wait_statustext('Turbine startup')
+
+        # Engage interlock to run up to head speed
+        self.set_rc(8, 2000)
+
+        # Check throttle gets to setpoint
+        expected_thr = SETPOINT * 0.01 * 1000 + 1000 - 1 # servo end points are 1000 to 2000
+        self.wait_servo_channel_value(8, expected_thr, timeout=RAMP_TIME+1, comparator=operator.ge)
+
+        self.progress("Checking cool down behaviour, idle x 1.5")
+        self.set_rc(8, 1000)
+        tstart = self.get_sim_time()
+        expected_thr = IDLE * 1.5 * 0.01 * 1000 + 1000 + 1
+        self.wait_servo_channel_value(8, expected_thr, timeout=2, comparator=operator.le)
+
+        # Check that the throttle drops to idle after cool down time
+        expected_thr = IDLE * 0.01 * 1000 + 1000 + 1
+        self.wait_servo_channel_value(8, expected_thr, timeout=COOLDOWN_TIME+1, comparator=operator.le)
+
+        measured_time = self.get_sim_time() - tstart
+        if (abs(measured_time - COOLDOWN_TIME) > 1.0):
+            raise NotAchievedException('Throttle did not reduce to idle within H_RSC_CLDWN_TIME')
+
+        self.set_rc(6, 1000)
+        self.wait_disarmed(timeout=20)
+
     def TurbineStart(self, timeout=200):
         """Check Turbine Start Feature"""
         RAMP_TIME = 4
@@ -980,6 +1027,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.FlyEachFrame,
             self.AirspeedDrivers,
             self.TurbineStart,
+            self.TurbineCoolDown,
             self.NastyMission,
             self.PIDNotches,
             self.AutoTune,