Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 15:23:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

autotest: separate out harmonic matching test

Browse Source
This commit is contained in:
Andy Piper 2020-03-05 07:52:24 +00:00 committed by Peter Barker
parent cb37f66414
commit eb0923a018
1 changed files with 64 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

75
Tools/autotest/arducopter.py
View File

@ -3707,6 +3707,66 @@ class AutoTestCopter(AutoTest):
return freq
def fly_gyro_fft_harmonic(self):
"""Use dynamic harmonic notch to control motor noise."""
# basic gyro sample rate test
self.progress("Flying with gyro FFT - Gyro sample rate")
self.context_push()
ex = None
try:
self.set_rc_default()
# magic tridge EKF type that dramatically speeds up the test
self.set_parameter("AHRS_EKF_TYPE", 10)
self.set_parameter("EK2_ENABLE", 0)
self.set_parameter("INS_LOG_BAT_MASK", 3)
self.set_parameter("INS_LOG_BAT_OPT", 0)
self.set_parameter("INS_GYRO_FILTER", 100)
self.set_parameter("INS_FAST_SAMPLE", 0)
self.set_parameter("LOG_BITMASK", 958)
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("SIM_DRIFT_SPEED", 0)
self.set_parameter("SIM_DRIFT_TIME", 0)
# enable a noisy motor peak
self.set_parameter("SIM_GYR_RND", 20)
# enabling FFT will also enable the arming check, self-testing the functionality
self.set_parameter("FFT_ENABLE", 1)
self.set_parameter("FFT_MINHZ", 50)
self.set_parameter("FFT_MAXHZ", 450)
self.set_parameter("FFT_SNR_REF", 10)
# Step 2: inject actual motor noise and use the standard length FFT to track it
self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
self.set_parameter("FFT_WINDOW_SIZE", 32)
self.set_parameter("FFT_WINDOW_OLAP", 0.5)
self.reboot_sitl()
freq = self.hover_and_check_matched_frequency(-15, 100, 250)
# Step 2a: add a second harmonic and check the first is still tracked
self.set_parameter("SIM_VIB_FREQ_X", freq * 2)
self.set_parameter("SIM_VIB_FREQ_Y", freq * 2)
self.set_parameter("SIM_VIB_FREQ_Z", freq * 2)
self.set_parameter("SIM_VIB_MOT_MULT", 0.25) # halve the motor noise so that the higher harmonic dominates
self.reboot_sitl()
self.hover_and_check_matched_frequency(-15, 100, 250, None, 0.15)
self.set_parameter("SIM_VIB_FREQ_X", 0)
self.set_parameter("SIM_VIB_FREQ_Y", 0)
self.set_parameter("SIM_VIB_FREQ_Z", 0)
self.set_parameter("SIM_VIB_MOT_MULT", 1.)
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)
self.reboot_sitl()
except Exception as e:
ex = e
self.context_pop()
if ex is not None:
raise ex
def fly_gyro_fft(self):
"""Use dynamic harmonic notch to control motor noise."""
# basic gyro sample rate test
@ -3760,17 +3820,6 @@ class AutoTestCopter(AutoTest):
self.reboot_sitl()
freq = self.hover_and_check_matched_frequency(-15, 100, 250)
# Step 2a: add a second harmonic and check the first is still tracked
self.set_parameter("SIM_VIB_FREQ_X", freq * 2)
self.set_parameter("SIM_VIB_FREQ_Y", freq * 2)
self.set_parameter("SIM_VIB_FREQ_Z", freq * 2)
self.set_parameter("SIM_VIB_MOT_MULT", 0.25) # halve the motor noise so that the higher harmonic dominates
self.reboot_sitl()
self.hover_and_check_matched_frequency(-15, 100, 250, None, 0.15)
self.set_parameter("SIM_VIB_FREQ_X", 0)
self.set_parameter("SIM_VIB_FREQ_Y", 0)
self.set_parameter("SIM_VIB_FREQ_Z", 0)
self.set_parameter("SIM_VIB_MOT_MULT", 1.)
# Step 3: add a FFT dynamic notch and check that the peak is squashed
@ -4865,6 +4914,10 @@ yeah, if you are seeing test failures it would make sense. The harmonic matching
"Test Fixed Yaw Calibration",
self.test_fixed_yaw_calibration),
("GyroFFTHarmonic",
"Fly Gyro FFT Harmonic",
self.fly_gyro_fft_harmonic),
("LogDownLoad",
"Log download",
lambda: self.log_download(