From ba3703303a5ec36f67e7cd21e923c456532a2a8b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 26 May 2016 16:29:37 +1000
Subject: [PATCH] autotest: added SingleCopter

---
 Tools/autotest/SingleCopter.parm | 75 ++++++++++++++++++++++++++++++++
 Tools/autotest/sim_vehicle.py    |  5 +++
 Tools/autotest/sim_vehicle.sh    |  5 +++
 3 files changed, 85 insertions(+)
 create mode 100644 Tools/autotest/SingleCopter.parm

diff --git a/Tools/autotest/SingleCopter.parm b/Tools/autotest/SingleCopter.parm
new file mode 100644
index 0000000000..695e7f5557
--- /dev/null
+++ b/Tools/autotest/SingleCopter.parm
@@ -0,0 +1,75 @@
+BATT_MONITOR 4.0000
+COMPASS_OFS2_X 5.0000
+COMPASS_OFS2_Y 13.0000
+COMPASS_OFS2_Z -18.0000
+COMPASS_OFS3_X 1.0000
+COMPASS_OFS3_Y 1.0000
+COMPASS_OFS3_Z 1.0000
+COMPASS_OFS_X 2.8749
+COMPASS_OFS_Y -21.8262
+COMPASS_OFS_Z -21.8422
+FLTMODE1 7.0000
+FLTMODE2 9.0000
+FLTMODE3 6.0000
+FLTMODE4 3.0000
+FLTMODE5 5.0000
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+RC1_MAX         2000.000000
+RC1_MIN         1000.000000
+RC1_TRIM        1500.000000
+RC2_MAX         2000.000000
+RC2_MIN         1000.000000
+RC2_TRIM        1500.000000
+RC3_MAX         2000.000000
+RC3_MIN         1000.000000
+RC3_TRIM        1500.000000
+RC4_MAX         2000.000000
+RC4_MIN         1000.000000
+RC4_TRIM        1500.000000
+RC5_MAX         2000.000000
+RC5_MIN         1000.000000
+RC5_TRIM        1500.000000
+RC6_MAX         2000.000000
+RC6_MIN         1000.000000
+RC6_TRIM        1500.000000
+RC7_MAX         2000.000000
+RC7_MIN         1000.000000
+RC7_TRIM        1500.000000
+RC8_MAX         2000.000000
+RC8_MIN         1000.000000
+RC8_TRIM        1500.000000
+# autotune values
+ATC_RATE_FF_ENAB 1.000000
+ATC_RAT_PIT_D    0.200000
+ATC_RAT_PIT_FILT 20.000000
+ATC_RAT_PIT_I    2.000000
+ATC_RAT_PIT_IMAX 1.000000
+ATC_RAT_PIT_P    2.000000
+ATC_RAT_RLL_D    0.200000
+ATC_RAT_RLL_FILT 20.000000
+ATC_RAT_RLL_I    2.000000
+ATC_RAT_RLL_IMAX 1.000000
+ATC_RAT_RLL_P    2.000000
+ATC_RAT_YAW_D    0.000000
+ATC_RAT_YAW_FILT 5.000000
+ATC_RAT_YAW_I    0.139709
+ATC_RAT_YAW_IMAX 0.222000
+ATC_RAT_YAW_P    1.397085
diff --git a/Tools/autotest/sim_vehicle.py b/Tools/autotest/sim_vehicle.py
index a12170a9d0..52d01a2c18 100755
--- a/Tools/autotest/sim_vehicle.py
+++ b/Tools/autotest/sim_vehicle.py
@@ -335,6 +335,11 @@ _options_for_frame = {
         "make_target": "sitl-heli-compound",
         "waf_target": "bin/arducopter-coax", # is this correct? -pb201604301447
     },
+    "singlecopter": {
+	    "make_target": "sitl-single",
+            "waf_target": "bin/arducopter-single",
+            "default_params_filename": "SingleCopter.parm",
+    },
     # PLANE
     "quadplane-tilttri" : {
         "build_target" : "sitl-tri",
diff --git a/Tools/autotest/sim_vehicle.sh b/Tools/autotest/sim_vehicle.sh
index 56a4b249f1..d74c411b48 100755
--- a/Tools/autotest/sim_vehicle.sh
+++ b/Tools/autotest/sim_vehicle.sh
@@ -291,6 +291,11 @@ case $FRAME in
         MODEL="$FRAME"
         DEFAULTS_PATH="$autotest/Helicopter.parm"
 	;;
+    singlecopter*)
+	BUILD_TARGET="sitl-single"
+        MODEL="$FRAME"
+        DEFAULTS_PATH="$autotest/SingleCopter.parm"
+	;;
     IrisRos)
 	BUILD_TARGET="sitl"
         DEFAULTS_PATH="$autotest/copter_params.parm"