Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tools:Autotest: tradheli improvements 

set servo8 min-max for heli default params
improve heli-dual default params
modified dual heli default params for new sitl model
allow spool up time for heli takeoff
This commit is contained in:
Bill Geyer 2023-02-10 23:37:27 -05:00 committed by Bill Geyer
parent 978086490d
commit 9b60072a04
3 changed files with 22 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
Tools/autotest/default_params/copter-heli-dual.parm
View File

@ -1,2 +1,13 @@
FRAME_CLASS 11
ATC_PIRO_COMP 0 # should this line be removed?
ATC_ANG_PIT_P 4.5
ATC_ANG_YAW_P 4.5
ATC_RAT_PIT_D 0.0012
ATC_RAT_PIT_P 0.001
ATC_RAT_PIT_FF 0.17
ATC_RAT_YAW_D 0.0015
ATC_RAT_YAW_P 0.14685
ATC_HOVR_ROL_TRM 0
H_COL2_MAX 1740
H_COL2_MIN 1460
PILOT_Y_RATE_TC 0.08
PILOT_Y_RATE 120

3
Tools/autotest/default_params/copter-heli.parm
View File

@ -73,6 +73,7 @@ H_COL_MIN 1460
H_COL_ANG_MAX 10
H_COL_ANG_MIN -2
H_RSC_MODE 2
H_RSC_SETPOINT 66
RC1_MAX 2000.000000
RC1_MIN 1000.000000
RC1_TRIM 1500.000000
@ -100,3 +101,5 @@ RC8_TRIM 1500.000000
RPM1_TYPE 10
IM_ACRO_COL_EXP 0.2
PSC_VELXY_D 0.5
SERVO8_MIN 1000.000000
SERVO8_MAX 2000.000000

11
Tools/autotest/helicopter.py
View File

@ -150,7 +150,10 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.wait_servo_channel_value(8, 1659, timeout=10)
# wait for motor runup
self.delay_sim_time(20)
if mode == 'GUIDED':
self.user_takeoff(alt_min=alt_min)
@ -214,7 +217,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -273,7 +276,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
@ -331,7 +334,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1660, timeout=10)
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,