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AP_Motors: example: support setting and testing DUAL_MODE

This commit is contained in:
Iampete1 2023-10-30 22:21:44 +00:00 committed by Andrew Tridgell
parent aa8c477a26
commit 55242445b2
2 changed files with 126 additions and 86 deletions
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9
libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View File

@ -120,6 +120,15 @@ void setup()
exit(1);
}
} else if (strcmp(cmd,"dual_mode") == 0) {
if (frame_class != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
::printf("dual_mode only supported by dual heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI_DUAL, frame_class);
exit(1);
}
// look away now, more dodgy param access.
AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
dual_mode->set(value);
} else if (strcmp(cmd,"frame_class") == 0) {
// We must have the frame_class argument 2nd as resulting class is used to determine if

39
libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
View File

@ -96,9 +96,12 @@ swash_type_lookup = {0: 'H3',
4: 'H4_90',
5: 'H4_45'}
dual_mode_lookup = {0: 'Longitudinal',
1: 'Transverse',
2: 'Intermeshing_or_Coaxial'}
# Run sweep over range of types
def run_sweep(frame_class, swash_type, dir_name):
def run_sweep(frame_class, swash_type, dual_mode, dir_name):
# configure and build the test
os.system('./waf configure --board linux')
@ -107,18 +110,28 @@ def run_sweep(frame_class, swash_type, dir_name):
# Run sweep
for fc in frame_class:
for swash in swash_type:
for mode in dual_mode:
if swash is not None:
swash_cmd = 'swash=%d' % swash
if mode is not None:
name = 'frame class = %s (%i), swash = %s (%i), dual mode = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, dual_mode_lookup[mode], mode)
filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], dual_mode_lookup[mode])
mode_cmd = 'dual_mode=%d' % mode
else:
name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
swash_cmd = 'swash=%d' % swash
mode_cmd = ''
else:
name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
swash_cmd = ''
mode_cmd = ''
print('Running motors test for %s' % name)
os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s > %s/%s' % (fc, swash_cmd, dir_name, filename))
os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, mode_cmd, dir_name, filename))
print('%s complete\n' % name)
@ -135,6 +148,7 @@ if __name__ == '__main__':
parser.add_argument("-s", "--swash-type", type=int, dest='swash_type', nargs="+", help="list of swashplate types to run comparison on. Defaults to test all types. Invalid for heli quad")
parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
parser.add_argument("-m", "--dual_mode", type=int, dest='dual_mode', help='Set DUAL_MODE, 0:Longitudinal, 1:Transverse, 2:Intermeshing/Coaxial, default:run all')
args = parser.parse_args()
if 13 in args.frame_class:
@ -147,6 +161,16 @@ if __name__ == '__main__':
if not args.swash_type:
args.swash_type = (0, 1, 2, 3, 4, 5)
if (args.frame_class != [11]) and (args.dual_mode is not None):
print('Only Frame %s (%i) supports dual_mode' % (frame_class_lookup[11], 11))
quit()
if args.frame_class == [11]:
if args.dual_mode is None:
args.dual_mode = (0, 1, 2)
else:
args.dual_mode = [None]
dir_name = 'motors_comparison'
if not args.compare:
@ -161,7 +185,7 @@ if __name__ == '__main__':
print('\nRunning motor tests with current changes\n')
# run the test
run_sweep(args.frame_class, args.swash_type, new_name)
run_sweep(args.frame_class, args.swash_type, args.dual_mode, new_name)
if args.head:
# rewind head and repeat test
@ -213,9 +237,16 @@ if __name__ == '__main__':
# Print comparison
for fc in args.frame_class:
for sw in args.swash_type:
for dm in args.dual_mode:
frame = frame_class_lookup[fc]
if sw is not None:
swash = swash_type_lookup[sw]
if dm is not None:
mode = dual_mode_lookup[dm]
name = frame + ' ' + swash + ' ' + mode
filename = '%s_%s_%s_motor_test.csv' % (frame, swash, mode)
else:
name = frame + ' ' + swash
filename = '%s_%s_motor_test.csv' % (frame, swash)