Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: setup FFT harmonics correctly for dynamic harmonics.

Browse Source 
octacopter notches test
This commit is contained in:
Andy Piper 2021-11-18 14:36:47 +00:00 committed by Andrew Tridgell
parent 9ba1cbc9d8
commit dbcc8215fa
1 changed files with 34 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
Tools/autotest/arducopter.py
View File

@ -4769,6 +4769,39 @@ class AutoTestCopter(AutoTest):
"Notch-per-motor peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
# Now do it again for an octacopter
self.context_push()
ex = None
try:
self.progress("Flying Octacopter with ESC telemetry driven dynamic notches")
self.set_parameter("INS_HNTCH_OPTS", 0)
self.customise_SITL_commandline(
[],
defaults_filepath=','.join(self.model_defaults_filepath("octa")),
model="octa"
)
freq, vfr_hud, peakdb1 = self.hover_and_check_matched_frequency_with_fft(-10, 20, 350, reverse=True)
# now add notch-per motor and check that the peak is squashed
self.set_parameter("INS_HNTCH_HMNCS", 1)
self.set_parameter("INS_HNTCH_OPTS", 2)
self.reboot_sitl()
freq, vfr_hud, peakdb2 = self.hover_and_check_matched_frequency_with_fft(-15, 20, 350, reverse=True)
# notch-per-motor should do better, but check for within 5%
if peakdb2 * 1.05 > peakdb1:
raise NotAchievedException(
"Notch-per-motor peak was higher than single-notch peak %fdB > %fdB" %
(peakdb2, peakdb1))
except Exception as e:
self.print_exception_caught(e)
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
# find a motor peak
self.takeoff(10, mode="ALT_HOLD")
@ -4940,7 +4973,7 @@ class AutoTestCopter(AutoTest):
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_HMNCS": 3,
"INS_HNTCH_HMNCS": 1,
"INS_HNTCH_MODE": 4,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": vfr_hud.throttle/100.0,