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autotest: tidy hover_and_check_matched_frequency method

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- remove pointless elses
 - clarify why a test is failing in exception messages
 - move variable definitions closer to their use
This commit is contained in:
Peter Barker 2022-06-13 13:34:01 +10:00 committed by Peter Barker
parent 5a36d7cf0a
commit 6fcdea67c3
1 changed files with 27 additions and 15 deletions
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42
Tools/autotest/arducopter.py
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@ -2634,7 +2634,7 @@ class AutoTestCopter(AutoTest):
'''
self.progress("Hovering for %u seconds" % hover_time)
tstart = self.get_sim_time()
self.delay_sim_time(hover_time)
self.delay_sim_time(hover_time, reason='data collection')
vfr_hud = self.poll_message('VFR_HUD')
tend = self.get_sim_time()
return tstart, tend, vfr_hud.throttle
@ -5227,7 +5227,9 @@ class AutoTestCopter(AutoTest):
raise ex
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
# find a motor peak
'''do a simple up-and-down test flight with current vehicle state.
Check that the onboard filter comes up with the same peak-frequency that
post-processing does.'''
self.takeoff(10, mode="ALT_HOLD")
tstart, tend, hover_throttle = self.hover_for_interval(15)
self.do_RTL()
@ -5240,26 +5242,36 @@ class AutoTestCopter(AutoTest):
smaxhz = int(maxhz * scale)
freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
if peakdb < dblevel:
raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
elif peakhz is not None and abs(freq - peakhz) / peakhz > 0.05:
raise NotAchievedException("Did not detect a motor peak at %fHz, found %fHz at %fdB" % (peakhz, freq, peakdb))
else:
self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, hover_throttle, peakdb))
# we have a peak make sure that the FFT detected something close
# logging is at 10Hz
# accuracy is determined by sample rate and fft length, given our use of quinn we could probably use half of this
freqDelta = 1000. / fftLength
self.progress("Post-processing FFT detected motor peak at %fHz/%fdB, throttle %f%%" %
(freq, peakdb, hover_throttle))
if peakdb < dblevel:
raise NotAchievedException(
"Detected motor peak not strong enough; want=%fdB got=%fdB" %
(peakdb, dblevel))
# caller can supply an expected frequency:
if peakhz is not None and abs(freq - peakhz) / peakhz > 0.05:
raise NotAchievedException(
"Post-processing detected motor peak at wrong frequency; want=%fHz got=%fHz" %
(peakhz, freq))
# we have a peak make sure that the onboard filter detected
# something close logging is at 10Hz
# peak within resolution of FFT length
pkAvg, nmessages = self.extract_median_FTN1_PkAvg_from_current_onboard_log(tstart, tend)
self.progress("Onboard-FFT detected motor peak at %fHz (processed %d FTN1 messages)" % (pkAvg, nmessages))
# peak within 5%
# accuracy is determined by sample rate and fft length, given
# our use of quinn we could probably use half of this
freqDelta = 1000. / fftLength
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException("FFT did not detect a motor peak at %f, found %f, wanted %f" % (dblevel, pkAvg, freq))
raise NotAchievedException(
"post-processed FFT does not agree with onboard filter on peak frequency; onboard=%fHz post-processed=%fHz/%fdB" % # noqa
(pkAvg, freq, dblevel)
)
return freq
def extract_median_FTN1_PkAvg_from_current_onboard_log(self, tstart, tend):