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Tools: tradheli autotest for manual autorotation power recovery

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Bill Geyer 2023-02-16 22:17:01 -05:00 committed by Bill Geyer
parent 7d244e3451
commit 713bc5b86e
1 changed files with 57 additions and 0 deletions
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57
Tools/autotest/helicopter.py
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@ -353,6 +353,62 @@ class AutoTestHelicopter(AutoTestCopter):
raise NotAchievedException("Hit too hard") raise NotAchievedException("Hit too hard")
self.wait_disarmed() self.wait_disarmed()
def ManAutoRotation(self, timeout=600):
"""Check autorotation power recovery behaviour"""
RAMP_TIME = 4
AROT_RAMP_TIME = 2
self.set_parameter("H_RSC_AROT_MN_EN", 1)
self.set_parameter("H_RSC_AROT_ENG_T", AROT_RAMP_TIME)
self.set_parameter("H_RSC_AROT_IDLE", 20)
self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
self.set_parameter("H_RSC_IDLE", 0)
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1,
(start_alt + 5),
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.change_mode('STABILIZE')
self.progress("Triggering manual autorotation by disabling interlock")
self.set_rc(3, 1300)
self.set_rc(8, 1000)
self.wait_servo_channel_value(8, 1200, timeout=3)
self.progress("channel 8 set to autorotation window")
self.set_rc(8, 2000)
self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1)
self.progress("in-flight power recovery")
self.set_rc(3, 1700)
self.delay_sim_time(5)
# initiate autorotation again
self.set_rc(3, 1200)
self.set_rc(8, 1000)
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
self.set_rc(3, 1000)
# verify servo 8 resets to RSC_IDLE after land complete
self.wait_servo_channel_value(8, 1000, timeout=3)
self.wait_disarmed()
def set_rc_default(self): def set_rc_default(self):
super(AutoTestHelicopter, self).set_rc_default() super(AutoTestHelicopter, self).set_rc_default()
self.progress("Lowering rotor speed") self.progress("Lowering rotor speed")
@ -441,6 +497,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.StabilizeTakeOff, self.StabilizeTakeOff,
self.SplineWaypoint, self.SplineWaypoint,
self.AutoRotation, self.AutoRotation,
self.ManAutoRotation,
self.FlyEachFrame, self.FlyEachFrame,
self.AirspeedDrivers, self.AirspeedDrivers,
]) ])