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Tools: update heli autotune autotest

This commit is contained in:
bnsgeyer 2024-04-18 22:37:06 -04:00 committed by Bill Geyer
parent c4f4067fd5
commit b1b4ddea94
1 changed files with 32 additions and 6 deletions
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38
Tools/autotest/helicopter.py
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@ -882,7 +882,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_parameters({
"AUTOTUNE_AXES": 2,
"AUTOTUNE_SEQ": 2,
"AUTOTUNE_GN_MAX": 2.0,
"AUTOTUNE_GN_MAX": 1.8,
})
# Conduct testing from althold
@ -901,7 +901,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_parameters({
"AUTOTUNE_AXES": 1,
"AUTOTUNE_SEQ": 2,
"AUTOTUNE_GN_MAX": 1.8,
"AUTOTUNE_GN_MAX": 1.6,
})
# Conduct testing from althold
@ -920,7 +920,9 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_parameters({
"AUTOTUNE_AXES": 3,
"AUTOTUNE_SEQ": 4,
"AUTOTUNE_GN_MAX": 2.0,
"AUTOTUNE_FRQ_MIN": 5,
"AUTOTUNE_FRQ_MAX": 50,
"AUTOTUNE_GN_MAX": 1.6,
})
# Conduct testing from althold
@ -935,11 +937,35 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
# test yaw FF, rate P and Rate D, and angle P tuning
# test yaw FF and rate P and Rate D
self.set_parameters({
"AUTOTUNE_AXES": 4,
"AUTOTUNE_SEQ": 7,
"AUTOTUNE_GN_MAX": 2.0,
"AUTOTUNE_SEQ": 3,
"AUTOTUNE_FRQ_MIN": 10,
"AUTOTUNE_FRQ_MAX": 70,
"AUTOTUNE_GN_MAX": 1.4,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm()
self.set_rc(8, 1000)
# test yaw angle P tuning
self.set_parameters({
"AUTOTUNE_AXES": 4,
"AUTOTUNE_SEQ": 4,
"AUTOTUNE_FRQ_MIN": 5,
"AUTOTUNE_FRQ_MAX": 50,
"AUTOTUNE_GN_MAX": 1.5,
})
# Conduct testing from althold