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autotest: improve clarity by breaking apart calculations for mount pitch

This commit is contained in:
Peter Barker 2020-01-30 13:49:48 +11:00 committed by Peter Barker
parent 58c823acc1
commit a9e288a335
1 changed files with 12 additions and 1 deletions
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13
Tools/autotest/arducopter.py
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@ -3359,11 +3359,22 @@ class AutoTestCopter(AutoTest):
self.set_parameter('MNT_RC_IN_TILT', 12)
self.set_parameter('MNT_RC_IN_PAN', 13)
self.progress("Testing RC angular control")
# default RC min=1100 max=1900
self.set_rc(11, 1500)
self.set_rc(12, 1500)
self.set_rc(13, 1500)
self.test_mount_pitch(0, 1)
self.set_rc(12, 1400)
self.progress("Testing RC input down 1/4 of its range in the output, should be down 1/4 range in output")
rc12_in = 1400.0
rc12_min = 1100.0 # default
rc12_max = 1900.0 # default
angmin_tilt = -45.0 # default
angmax_tilt = 45.0 # default
expected_pitch = ((rc12_in-rc12_min)/(rc12_max-rc12_min) * (angmax_tilt-angmin_tilt)) + angmin_tilt
self.progress("expected mount pitch: %f" % expected_pitch)
if expected_pitch != -11.25:
raise NotAchievedException("Calculation wrong - defaults changed?!")
self.set_rc(12, rc12_in)
self.test_mount_pitch(-11.25, 0.01)
self.set_rc(12, 1800)
self.test_mount_pitch(33.75, 0.01)