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autotest: add triple notch test.

This commit is contained in:
Andy Piper 2022-06-23 17:55:25 +01:00 committed by Andrew Tridgell
parent 193375a7e5
commit 8799b3839a
1 changed files with 12 additions and 0 deletions
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12
Tools/autotest/arducopter.py
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@ -5134,6 +5134,18 @@ class AutoTestCopter(AutoTest):
"Double-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
# now add triple dynamic notches and check that the peak is squashed
self.set_parameter("INS_HNTCH_OPTS", 16)
self.reboot_sitl()
freq, hover_throttle, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# triple-notch should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Triple-notch peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
except Exception as e:
self.print_exception_caught(e)
ex = e