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autotest: correct FFT gyro averaging tests

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Andy Piper 2023-01-19 20:44:17 +00:00 committed by Andrew Tridgell
parent 31a216f670
commit af9aed1017
1 changed files with 22 additions and 4 deletions
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26
Tools/autotest/arducopter.py
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@ -5896,6 +5896,7 @@ class AutoTestCopter(AutoTest):
self.start_subtest("Hover to calculate approximate hover frequency and see that it is tracked")
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"INS_HNTCH_ATT": 100,
"AHRS_EKF_TYPE": 10,
"EK2_ENABLE": 0,
"EK3_ENABLE": 0,
@ -5903,7 +5904,6 @@ class AutoTestCopter(AutoTest):
"INS_LOG_BAT_OPT": 2,
"INS_GYRO_FILTER": 100,
"INS_FAST_SAMPLE": 0,
"INS_HNTCH_ATT": 100,
"LOG_BITMASK": 958,
"LOG_DISARMED": 0,
"SIM_DRIFT_SPEED": 0,
@ -5916,6 +5916,8 @@ class AutoTestCopter(AutoTest):
"FFT_ENABLE": 1,
"FFT_WINDOW_SIZE": 64, # not the default, but makes the test more reliable
"FFT_SNR_REF": 10,
"FFT_MINHZ": 80,
"FFT_MAXHZ": 450,
})
# Step 1: inject actual motor noise and use the FFT to track it
@ -5963,13 +5965,23 @@ class AutoTestCopter(AutoTest):
self.start_subtest("Verify that noise is suppressed by the harmonic notch")
self.hover_and_check_matched_frequency_with_fft(0, 100, 350, reverse=True, takeoff=False)
# reset notch to defaults
self.set_parameters({
"INS_HNTCH_HMNCS": 3.0,
"INS_HNTCH_ENABLE": 0.0,
"INS_HNTCH_REF": 0.0,
"INS_HNTCH_FREQ": 80,
"INS_HNTCH_BW": 40,
"INS_HNTCH_FM_RAT": 1.0
})
# Step 3: add a second harmonic and check the first is still tracked
self.start_subtest("Add a fixed frequency harmonic at twice the hover frequency "
"and check the right harmonic is found")
self.set_parameters({
"SIM_VIB_FREQ_X": freq * 2,
"SIM_VIB_FREQ_Y": freq * 2,
"SIM_VIB_FREQ_Z": freq * 2,
"SIM_VIB_FREQ_X": detected_freq * 2,
"SIM_VIB_FREQ_Y": detected_freq * 2,
"SIM_VIB_FREQ_Z": detected_freq * 2,
"SIM_VIB_MOT_MULT": 0.25, # halve the motor noise so that the higher harmonic dominates
})
self.reboot_sitl()
@ -6009,6 +6021,12 @@ class AutoTestCopter(AutoTest):
"SIM_VIB_FREQ_Y": 0,
"SIM_VIB_FREQ_Z": 0,
"SIM_VIB_MOT_MULT": 1.0,
"INS_HNTCH_HMNCS": 3.0,
"INS_HNTCH_ENABLE": 0.0,
"INS_HNTCH_REF": 0.0,
"INS_HNTCH_FREQ": 80,
"INS_HNTCH_BW": 40,
"INS_HNTCH_FM_RAT": 1.0
})
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)