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autotest: add PID notches test

This commit is contained in:
Andy Piper 2023-07-27 18:34:43 +02:00 committed by Andrew Tridgell
parent aad51b7066
commit 61e91dde35
2 changed files with 88 additions and 0 deletions
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44
Tools/autotest/arducopter.py
View File

@ -5960,6 +5960,49 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
freqs.append(m.PkAvg)
return numpy.median(numpy.asarray(freqs)), len(freqs)
def PIDNotches(self):
"""Use dynamic harmonic notch to control motor noise."""
self.progress("Flying with PID notches")
self.context_push()
ex = None
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": 65535,
"LOG_DISARMED": 0,
"SIM_VIB_FREQ_X": 120, # roll
"SIM_VIB_FREQ_Y": 120, # pitch
"SIM_VIB_FREQ_Z": 180, # yaw
"ATC_RAT_RLL_ADV": 1,
"ATC_RAT_RLL_NEF": 120,
"ATC_RAT_RLL_NBW": 50,
"ATC_RAT_PIT_ADV": 1,
"ATC_RAT_PIT_NEF": 120,
"ATC_RAT_PIT_NBW": 50,
"ATC_RAT_YAW_ADV": 1,
"ATC_RAT_YAW_NEF": 180,
"ATC_RAT_YAW_NBW": 50,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(5, 20, 350, reverse=True)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def ThrottleGainBoost(self):
"""Use PD and Angle P boost for anti-gravity."""
# basic gyro sample rate test
@ -10561,6 +10604,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
Test(self.DynamicNotches, attempts=4),
self.PositionWhenGPSIsZero,
Test(self.DynamicRpmNotches, attempts=4),
self.PIDNotches,
self.RefindGPS,
Test(self.GyroFFT, attempts=1, speedup=8),
Test(self.GyroFFTHarmonic, attempts=4, speedup=8),

44
Tools/autotest/helicopter.py
View File

@ -801,6 +801,49 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_rc(8, 1000)
self.disarm_vehicle()
def PIDNotches(self):
"""Use dynamic harmonic notch to control motor noise."""
self.progress("Flying with PID notches")
self.context_push()
ex = None
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": 65535,
"LOG_DISARMED": 0,
"SIM_VIB_FREQ_X": 120, # roll
"SIM_VIB_FREQ_Y": 120, # pitch
"SIM_VIB_FREQ_Z": 180, # yaw
"ATC_RAT_RLL_ADV": 1,
"ATC_RAT_RLL_NEF": 120,
"ATC_RAT_RLL_NBW": 50,
"ATC_RAT_PIT_ADV": 1,
"ATC_RAT_PIT_NEF": 120,
"ATC_RAT_PIT_NBW": 50,
"ATC_RAT_YAW_ADV": 1,
"ATC_RAT_YAW_NEF": 180,
"ATC_RAT_YAW_NBW": 50,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()
self.takeoff(10, mode="ALT_HOLD")
freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(5, 20, 350, reverse=True)
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
if ex is not None:
raise ex
def tests(self):
'''return list of all tests'''
ret = vehicle_test_suite.TestSuite.tests(self)
@ -817,6 +860,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.AirspeedDrivers,
self.TurbineStart,
self.NastyMission,
self.PIDNotches,
])
return ret