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autotest: add a test for dynamic harmonics

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Andy Piper 2020-05-29 17:29:55 +01:00 committed by Andrew Tridgell
parent 71f99542a8
commit c6415136ed
1 changed files with 21 additions and 0 deletions
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21
Tools/autotest/arducopter.py
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@ -3848,6 +3848,7 @@ class AutoTestCopter(AutoTest):
self.hover_and_check_matched_frequency(-15, 100, 250, 64, None)
# Step 3: switch harmonics mid flight and check for tracking
self.start_subtest("Switch harmonics mid flight and check the right harmonic is found")
self.set_parameter("FFT_HMNC_PEAK", 0)
self.reboot_sitl()
@ -3886,6 +3887,26 @@ class AutoTestCopter(AutoTest):
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException("FFT did not detect a harmonic motor peak, found %f, wanted %f" % (pkAvg, freq))
# Step 4: dynamic harmonic
self.start_subtest("Enable dynamic harmonics and make sure both frequency peaks are attenuated")
# find a motor peak
freq, vfr_hud, peakdb = self.hover_and_check_matched_frequency_with_fft(-15, 100, 350)
# now add a dynamic notch and check that the peak is squashed
self.set_parameter("INS_LOG_BAT_OPT", 2)
self.set_parameter("INS_HNTCH_ENABLE", 1)
self.set_parameter("INS_HNTCH_HMNCS", 3)
self.set_parameter("INS_HNTCH_MODE", 4)
self.set_parameter("INS_HNTCH_FREQ", freq)
#self.set_parameter("INS_HNTCH_REF", 1.0)
self.set_parameter("INS_HNTCH_REF", vfr_hud.throttle/100.)
self.set_parameter("INS_HNTCH_ATT", 100)
self.set_parameter("INS_HNTCH_BW", freq/2)
self.set_parameter("INS_HNTCH_OPTS", 3)
self.reboot_sitl()
self.hover_and_check_matched_frequency_with_fft(-1, 100, 350, reverse=True)
self.set_parameter("SIM_VIB_FREQ_X", 0)
self.set_parameter("SIM_VIB_FREQ_Y", 0)
self.set_parameter("SIM_VIB_FREQ_Z", 0)