mirror of https://github.com/ArduPilot/ardupilot
AP_Motors: Example: allow testing of heli tail type
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Iampete1
Andrew Tridgell
parent
1c8ab3853c
commit
5dcdd238a9
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@ -130,6 +130,30 @@ void setup()
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AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
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dual_mode->set(value);
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} else if (strcmp(cmd,"tail_type") == 0) {
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if (frame_class != AP_Motors::MOTOR_FRAME_HELI) {
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::printf("tail_type only supported by single heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI, frame_class);
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exit(1);
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}
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// Union allows pointers to be aligned despite different sizes
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// avoids "increases required alignment of target type" error when casting from char* to AP_Int16*
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union {
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char *char_ptr;
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AP_Int16 *int16;
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} tail_type;
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// look away now, more dodgy param access.
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tail_type.char_ptr = (char*)motors + AP_MotorsHeli_Single::var_info[1].offset;
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tail_type.int16->set(value);
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// Re-init motors to switch to the new tail type
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// Have to do this twice to make sure the tail type sticks
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motors->set_initialised_ok(false);
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motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
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motors->set_initialised_ok(false);
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motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
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} else if (strcmp(cmd,"frame_class") == 0) {
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// We must have the frame_class argument 2nd as resulting class is used to determine if
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// we have access to certain functions in the multicopter motors child class
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@ -152,8 +176,13 @@ void setup()
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case AP_Motors::MOTOR_FRAME_HELI:
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motors = new AP_MotorsHeli_Single(400);
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// Mot 1-3 swashplate, mot 4 tail rotor pitch, mot 5 for 4th servo in H4-90 swash
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num_outputs = 5;
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// Mot 1-3: Swash plate 1 to 3
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// Mot 4: Tail rotor
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// Mot 5: 4th servo in H4-90 swash
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// Mot 6: Unused
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// Mot 7: Tail rotor RSC / external governor output
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// Mot 8: Main rotor RSC
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num_outputs = 8;
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break;
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case AP_Motors::MOTOR_FRAME_HELI_DUAL:
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@ -100,8 +100,15 @@ dual_mode_lookup = {0: 'Longitudinal',
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1: 'Transverse',
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2: 'Intermeshing_or_Coaxial'}
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tail_type_lookup = {0: 'Servo_only',
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1: 'Servo_with_ExtGyro',
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2: 'DirectDrive_VarPitch',
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3: 'DirectDrive_FixedPitch_CW',
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4: 'DirectDrive_FixedPitch_CCW',
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5: 'DDVP_with_external_governor'}
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# Run sweep over range of types
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def run_sweep(frame_class, swash_type, dual_mode, dir_name):
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def run_sweep(frame_class, swash_type, secondary_iter, secondary_lookup, secondary_name, dir_name):
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# configure and build the test
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os.system('./waf configure --board linux')
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@ -110,28 +117,28 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
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# Run sweep
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for fc in frame_class:
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for swash in swash_type:
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for mode in dual_mode:
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for sec in secondary_iter:
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if swash is not None:
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swash_cmd = 'swash=%d' % swash
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if mode is not None:
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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)
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filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], dual_mode_lookup[mode])
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mode_cmd = 'dual_mode=%d' % mode
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if sec is not None:
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name = 'frame class = %s (%i), swash = %s (%i), %s = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, secondary_name.replace('_', ' '), secondary_lookup[sec], sec)
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filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], secondary_lookup[sec])
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sec_cmd = '%s=%d' % (secondary_name, sec)
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else:
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name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
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filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
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mode_cmd = ''
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sec_cmd = ''
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else:
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name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
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filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
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swash_cmd = ''
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mode_cmd = ''
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sec_cmd = ''
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print('Running motors test for %s' % name)
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os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, mode_cmd, dir_name, filename))
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os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, sec_cmd, dir_name, filename))
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print('%s complete\n' % name)
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@ -149,6 +156,7 @@ if __name__ == '__main__':
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parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
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parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
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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')
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parser.add_argument("-t", "--tail_type", type=int, dest='tail_type', help='Set TAIL_TYPE, 0:Servo Only, 1:Servo with ExtGyro, 2:DirectDrive VarPitch, 3:DirectDrive FixedPitch CW, 4:DirectDrive FixedPitch CCW, 5:DDVP with external governor, default:run all')
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args = parser.parse_args()
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if 13 in args.frame_class:
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@ -171,6 +179,30 @@ if __name__ == '__main__':
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else:
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args.dual_mode = [None]
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if (args.frame_class != [6]) and (args.tail_type is not None):
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print('Only Frame %s (%i) supports tail_type' % (frame_class_lookup[6], 6))
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quit()
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if args.frame_class == [6]:
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if args.tail_type is None:
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args.tail_type = (0, 1, 2, 3, 4, 5)
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else:
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args.tail_type = [None]
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# Secondary iterator, tail type for single heli and dual mode for dual heli
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secondary_iter = [None]
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secondary_lookup = None
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secondary_name = None
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if args.dual_mode != [None]:
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secondary_iter = args.dual_mode
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secondary_lookup = dual_mode_lookup
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secondary_name = 'dual_mode'
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elif args.tail_type != [None]:
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secondary_iter = args.tail_type
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secondary_lookup = tail_type_lookup
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secondary_name = 'tail_type'
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dir_name = 'motors_comparison'
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if not args.compare:
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@ -185,7 +217,7 @@ if __name__ == '__main__':
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print('\nRunning motor tests with current changes\n')
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# run the test
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run_sweep(args.frame_class, args.swash_type, args.dual_mode, new_name)
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run_sweep(args.frame_class, args.swash_type, secondary_iter, secondary_lookup, secondary_name, new_name)
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if args.head:
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# rewind head and repeat test
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@ -237,14 +269,14 @@ if __name__ == '__main__':
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# Print comparison
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for fc in args.frame_class:
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for sw in args.swash_type:
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for dm in args.dual_mode:
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for sec in secondary_iter:
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frame = frame_class_lookup[fc]
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if sw is not None:
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swash = swash_type_lookup[sw]
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if dm is not None:
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mode = dual_mode_lookup[dm]
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name = frame + ' ' + swash + ' ' + mode
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filename = '%s_%s_%s_motor_test.csv' % (frame, swash, mode)
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if sec is not None:
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sec_str = secondary_lookup[sec]
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name = frame + ' ' + swash + ' ' + sec_str
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filename = '%s_%s_%s_motor_test.csv' % (frame, swash, sec_str)
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else:
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name = frame + ' ' + swash
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