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autotest: update PIDNotches to use AP_Filter format

This commit is contained in:
Andy Piper 2023-10-01 18:21:01 +01:00 committed by Andrew Tridgell
parent 6ecb18e027
commit 942be4f2f8
2 changed files with 12 additions and 18 deletions
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14
Tools/autotest/arducopter.py
View File

@ -5968,6 +5968,7 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
ex = None
try:
self.set_parameters({
"FILT1_TYPE": 1,
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
@ -5977,15 +5978,10 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"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,
"FILT1_NOTCH_FREQ": 120,
"ATC_RAT_RLL_NEF": 1,
"ATC_RAT_PIT_NEF": 1,
"ATC_RAT_YAW_NEF": 1,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()

16
Tools/autotest/helicopter.py
View File

@ -809,6 +809,8 @@ class AutoTestHelicopter(AutoTestCopter):
ex = None
try:
self.set_parameters({
"FILT1_TYPE": 1,
"FILT2_TYPE": 1,
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
@ -818,15 +820,11 @@ class AutoTestHelicopter(AutoTestCopter):
"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,
"FILT1_NOTCH_FREQ": 120,
"FILT2_NOTCH_FREQ": 180,
"ATC_RAT_RLL_NEF": 1,
"ATC_RAT_PIT_NEF": 1,
"ATC_RAT_YAW_NEF": 2,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()