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Autotest: Update Autorotation tests for new mode change and bailout methods

This commit is contained in:
Gone4Dirt 2024-08-10 17:22:40 +01:00 committed by Peter Barker
parent 41694869d5
commit bbc2259cff
1 changed files with 156 additions and 68 deletions
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148
Tools/autotest/helicopter.py
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@ -302,11 +302,15 @@ class AutoTestHelicopter(AutoTestCopter):
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)
def AutoRotation(self, timeout=600):
def Autorotation(self, timeout=600):
"""Check engine-out behaviour"""
self.set_parameter("AROT_ENABLE", 1)
self.context_push()
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.set_parameters({
"AROT_ENABLE": 1,
"H_RSC_AROT_ENBL": 1,
})
bail_out_time = self.get_parameter('H_RSC_AROT_RUNUP')
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
@ -322,34 +326,77 @@ class AutoTestHelicopter(AutoTestCopter):
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.progress("Triggering autorotate by raising interlock")
self.set_rc(3, 1000)
# Reset collective to enter hover
self.set_rc(3, 1500)
# Change to the autorotation flight mode
self.progress("Triggering autorotate mode")
self.change_mode('AUTOROTATE')
self.delay_sim_time(2)
# Disengage the interlock to remove power
self.set_rc(8, 1000)
# Ensure we have progressed through the mode's state machine
self.wait_statustext("SS Glide Phase", check_context=True)
self.change_mode('STABILIZE')
self.progress("Testing bailout from autorotation")
self.set_rc(8, 2000)
# See if the output ramps to a value close to expected with the prescribed time
self.wait_servo_channel_value(8, 1659, timeout=bail_out_time+1, comparator=operator.ge)
# Successfully bailed out, disengage the interlock and allow autorotation to progress
self.set_rc(8, 1000)
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
self.wait_disarmed()
def ManAutoRotation(self, timeout=600):
# Set throttle low to trip auto disarm
self.set_rc(3, 1000)
self.wait_disarmed()
self.context_pop()
def ManAutorotation(self, timeout=600):
"""Check autorotation power recovery behaviour"""
RAMP_TIME = 4
AROT_RAMP_TIME = 2
start_alt = 100 # metres
RSC_CHAN = 8
def check_rsc_output(self, throttle, timeout):
# Check we get a sensible throttle output
expected_pwm = int(throttle * 0.01 * 1000 + 1000)
# Help out the detection by accepting some margin
margin = 2
# See if the output ramps to a value close to expected with the prescribed time
self.wait_servo_channel_in_range(RSC_CHAN, expected_pwm-margin, expected_pwm+margin, timeout=timeout)
def TestAutorotationConfig(self, rsc_idle, arot_ramp_time, arot_idle, cool_down):
RAMP_TIME = 10
RUNUP_TIME = 15
AROT_RUNUP_TIME = arot_ramp_time + 4
RSC_SETPOINT = 66
self.set_parameters({
"H_RSC_AROT_MN_EN": 1,
"H_RSC_AROT_ENG_T": AROT_RAMP_TIME,
"H_RSC_AROT_IDLE": 20,
"H_RSC_AROT_ENBL": 1,
"H_RSC_AROT_RAMP": arot_ramp_time,
"H_RSC_AROT_RUNUP": AROT_RUNUP_TIME,
"H_RSC_AROT_IDLE": arot_idle,
"H_RSC_RAMP_TIME": RAMP_TIME,
"H_RSC_IDLE": 0,
"PILOT_TKOFF_ALT": start_alt * 100,
"H_RSC_RUNUP_TIME": RUNUP_TIME,
"H_RSC_IDLE": rsc_idle,
"H_RSC_SETPOINT": RSC_SETPOINT,
"H_RSC_CLDWN_TIME": cool_down
})
# Check the RSC config so we know what to expect on the throttle output
if self.get_parameter("H_RSC_MODE") != 2:
self.set_parameter("H_RSC_MODE", 2)
self.reboot_sitl()
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
@ -357,28 +404,45 @@ 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, 1659, timeout=10)
check_rsc_output(self, RSC_SETPOINT, RUNUP_TIME+1)
self.delay_sim_time(20)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1,
(start_alt + 5),
self.wait_altitude(100,
105,
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.change_mode('STABILIZE')
self.progress("Triggering manual autorotation by disabling interlock")
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_servo_channel_value(8, 1199, timeout=3)
self.progress("channel 8 set to autorotation window")
# wait to establish autorotation
self.wait_statustext(r"RSC: In Autorotation", check_context=True)
# Check we are using the correct throttle output. This should happen instantly on ramp down.
idle_thr = rsc_idle
if (arot_idle > 0):
idle_thr = arot_idle
check_rsc_output(self, idle_thr, 1)
self.progress("RSC is outputting correct idle throttle")
# Wait to establish autorotation.
self.delay_sim_time(2)
# Re-engage interlock to start bailout sequence
self.set_rc(8, 2000)
self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1)
# give time for engine to power up
# Ensure we see the bailout state
self.wait_statustext("RSC: Bailing Out", check_context=True)
# Check we are back up to flight throttle. Autorotation ramp up time should be used
check_rsc_output(self, RSC_SETPOINT, arot_ramp_time+1)
# Give time for engine to power up
self.set_rc(3, 1400)
self.delay_sim_time(2)
@ -386,7 +450,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.set_rc(3, 1500)
self.delay_sim_time(5)
# initiate autorotation again
# Initiate autorotation again
self.set_rc(3, 1000)
self.set_rc(8, 1000)
@ -397,11 +461,35 @@ class AutoTestHelicopter(AutoTestCopter):
if speed > 30:
raise NotAchievedException("Hit too hard")
self.set_rc(3, 1000)
# verify servo 8 resets to RSC_IDLE after land complete
self.wait_servo_channel_value(8, 1000, timeout=3)
# Check that cool down is still used correctly if set
# First wait until we are out of the autorotation state
self.wait_statustext("RSC: Autorotation Stopped")
if (cool_down > 0):
check_rsc_output(self, rsc_idle*1.5, cool_down)
# Verify RSC output resets to RSC_IDLE after land complete
check_rsc_output(self, rsc_idle, 20)
self.wait_disarmed()
# We test the bailout behavior of two different configs
# First we test config with a regular throttle curve
self.progress("testing autorotation with throttle curve config")
self.context_push()
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=0)
# Now we test a config that would be used with an ESC with internal governor and an autorotation window
self.progress("testing autorotation with ESC autorotation window config")
TestAutorotationConfig(self, rsc_idle=0.0, arot_ramp_time=0.0, arot_idle=20.0, cool_down=0)
# Check rsc output behavior when using the cool down feature
self.progress("testing autorotation with cool down enabled and zero autorotation idle")
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=0, cool_down=5.0)
self.progress("testing that H_RSC_AROT_IDLE is used over RSC_IDLE when cool down is enabled")
TestAutorotationConfig(self, rsc_idle=5.0, arot_ramp_time=2.0, arot_idle=10, cool_down=5.0)
self.context_pop()
def mission_item_home(self, target_system, target_component):
'''returns a mission_item_int which can be used as home in a mission'''
return self.mav.mav.mission_item_int_encode(
@ -1024,8 +1112,8 @@ class AutoTestHelicopter(AutoTestCopter):
self.PosHoldTakeOff,
self.StabilizeTakeOff,
self.SplineWaypoint,
self.AutoRotation,
self.ManAutoRotation,
self.Autorotation,
self.ManAutorotation,
self.governortest,
self.FlyEachFrame,
self.AirspeedDrivers,