Tools: add throttle curve and governor autotest for tradheli

Tools/autotest/arducopter.py

@@ -8339,6 +8339,7 @@ class AutoTestCopter(AutoTest):
             'heli-compound': "wrong binary, different takeoff regime",
             'heli-dual': "wrong binary, different takeoff regime",
             'heli': "wrong binary, different takeoff regime",
+            'heli-gas': "wrong binary, different takeoff regime",
             'heli-blade360': "wrong binary, different takeoff regime",
         }
         for frame in sorted(copter_vinfo_options["frames"].keys()):

Tools/autotest/default_params/copter-heli-gas.parm

@@ -0,0 +1,9 @@
+H_RSC_IDLE 14
+H_RSC_MODE 3
+H_RSC_RAMP_TIME 10
+H_RSC_RUNUP_TIME 15
+H_RSC_THRCRV_0 27
+H_RSC_THRCRV_25 32
+H_RSC_THRCRV_50 45
+H_RSC_THRCRV_75 75
+H_RSC_THRCRV_100 100

Tools/autotest/helicopter.py

@@ -152,7 +152,13 @@ class AutoTestHelicopter(AutoTestCopter):
         self.progress("Raising rotor speed")
         self.set_rc(8, 2000)
         self.progress("wait for rotor runup to complete")
-        self.wait_servo_channel_value(8, 1659, timeout=10)
+        if self.get_parameter("H_RSC_MODE") == 4:
+            self.context_collect('STATUSTEXT')
+            self.wait_statustext("Governor Engaged", check_context=True)
+        elif self.get_parameter("H_RSC_MODE") == 3:
+            self.wait_rpm(1, 1300, 1400)
+        else:
+            self.wait_servo_channel_value(8, 1659, timeout=10)
 
         # wait for motor runup
         self.delay_sim_time(20)
@@ -199,6 +205,18 @@ class AutoTestHelicopter(AutoTestCopter):
             self.do_RTL()
             self.set_rc(8, 1000)
 
+    def governortest(self):
+        '''Test Heli Internal Throttle Curve and Governor'''
+        self.customise_SITL_commandline(
+            ["--defaults", ','.join(self.model_defaults_filepath('heli-gas')), ],
+            model="heli-gas",
+            wipe=True,
+        )
+        self.set_parameter("H_RSC_MODE", 4)
+        self.takeoff(10)
+        self.do_RTL()
+        self.set_rc(8, 1000)
+
     def hover(self):
         self.progress("Setting hover collective")
         self.set_rc(3, 1500)
@@ -793,6 +811,7 @@ class AutoTestHelicopter(AutoTestCopter):
             self.SplineWaypoint,
             self.AutoRotation,
             self.ManAutoRotation,
+            self.governortest,
             self.FlyEachFrame,
             self.AirspeedDrivers,
             self.TurbineStart,

Tools/autotest/pysim/vehicleinfo.py

@@ -149,6 +149,11 @@ class VehicleInfo(object):
                 "waf_target": "bin/arducopter-heli",
                 "default_params_filename": "default_params/copter-heli.parm",
             },
+            "heli-gas": {
+                "waf_target": "bin/arducopter-heli",
+                "default_params_filename": ["default_params/copter-heli.parm",
+                                            "default_params/copter-heli-gas.parm"],
+            },
             "heli-dual": {
                 "waf_target": "bin/arducopter-heli",
                 "default_params_filename": ["default_params/copter-heli.parm",
@@ -192,6 +197,11 @@ class VehicleInfo(object):
                 "waf_target": "bin/arducopter-heli",
                 "default_params_filename": "default_params/copter-heli.parm",
             },
+            "heli-gas": {
+                "waf_target": "bin/arducopter-heli",
+                "default_params_filename": ["default_params/copter-heli.parm",
+                                            "default_params/copter-heli-gas.parm"],
+            },
             "heli-dual": {
                 "waf_target": "bin/arducopter-heli",
                 "default_params_filename": ["default_params/copter-heli.parm",