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autotest: limit frequency matching to resolution of the FFT

This commit is contained in:
Andy Piper 2020-03-08 08:10:00 +00:00 committed by Peter Barker
parent 18ddfbdd6e
commit 94ff5d13c0
1 changed files with 7 additions and 5 deletions
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12
Tools/autotest/quadplane.py
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@ -239,7 +239,7 @@ class AutoTestQuadPlane(AutoTest):
timeout=60)
self.set_rc(3, 1500)
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, peakhz=None):
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
# find a motor peak
self.takeoff(10, mode="QHOVER")
@ -266,6 +266,8 @@ class AutoTestQuadPlane(AutoTest):
# we have a peak make sure that the FFT detected something close
# logging is at 10Hz
mlog = self.dfreader_for_current_onboard_log()
# accuracy is determined by sample rate and fft length, given our use of quinn we could probably use half of this
freqDelta = 1000. / fftLength
pkAvg = freq
while True:
@ -276,8 +278,8 @@ class AutoTestQuadPlane(AutoTest):
if m is None:
break
pkAvg = pkAvg + (0.1 * (m.PkAvg - pkAvg))
# peak within 5%
if abs(pkAvg - freq) / freq > 0.05:
# peak within resolution of FFT length
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException("FFT did not detect a motor peak at %f, found %f, wanted %f" % (dblevel, pkAvg, freq))
return freq
@ -321,7 +323,7 @@ class AutoTestQuadPlane(AutoTest):
self.reboot_sitl()
# find a motor peak
self.hover_and_check_matched_frequency(-15, 100, 350, 250)
self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
# Step 2: inject actual motor noise and use the standard length FFT to track it
self.set_parameter("SIM_VIB_MOT_MAX", 350)
@ -330,7 +332,7 @@ class AutoTestQuadPlane(AutoTest):
self.reboot_sitl()
# find a motor peak
freq = self.hover_and_check_matched_frequency(-15, 200, 300)
freq = self.hover_and_check_matched_frequency(-15, 200, 300, 32)
# Step 3: add a FFT dynamic notch and check that the peak is squashed
self.set_parameter("INS_LOG_BAT_OPT", 2)