Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

autotest: reduce motor vibration for landing

This commit is contained in:
Peter Barker 2021-01-18 15:45:41 +11:00 committed by Peter Barker
parent 6becd90df0
commit 662e86780b
1 changed files with 5 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
Tools/autotest/arducopter.py
View File

@ -2144,6 +2144,9 @@ class AutoTestCopter(AutoTest):
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
# if we don't reduce vibes here then the landing detector
# may not trigger
self.set_parameter("SIM_VIB_MOT_MAX", 0)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# ignore the first 20Hz and look for a peak at -15dB or more
@ -2161,6 +2164,7 @@ class AutoTestCopter(AutoTest):
"INS_NOTCH_FREQ": freq,
"INS_NOTCH_ATT": 50,
"INS_NOTCH_BW": freq/2,
"SIM_VIB_MOT_MAX": 350,
})
self.reboot_sitl()
@ -2171,6 +2175,7 @@ class AutoTestCopter(AutoTest):
while self.get_sim_time_cached() < tstart + hover_time:
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
self.set_parameter("SIM_VIB_MOT_MAX", 0)
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]