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autotest: tidy hovering in fft tests

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Peter Barker 2022-06-12 11:26:35 +10:00 committed by Peter Barker
parent b2f3123b0c
commit ef29350a72
1 changed files with 25 additions and 50 deletions
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75
Tools/autotest/arducopter.py
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@ -2627,6 +2627,16 @@ class AutoTestCopter(AutoTest):
self.do_RTL() self.do_RTL()
def hover_for_interval(self, hover_time):
'''hovers for an interval of hover_time seconds. Returns the bookend
times for that interval
'''
self.progress("Hovering for %u seconds" % hover_time)
tstart = self.get_sim_time()
self.delay_sim_time(hover_time)
tend = self.get_sim_time()
return tstart, tend
def fly_motor_vibration(self): def fly_motor_vibration(self):
"""Test flight with motor vibration""" """Test flight with motor vibration"""
self.context_push() self.context_push()
@ -2653,11 +2663,7 @@ class AutoTestCopter(AutoTest):
self.takeoff(15, mode="ALT_HOLD") self.takeoff(15, mode="ALT_HOLD")
hover_time = 15 hover_time = 15
tstart = self.get_sim_time() tstart, tend = self.hover_for_interval(hover_time)
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
# if we don't reduce vibes here then the landing detector # if we don't reduce vibes here then the landing detector
# may not trigger # may not trigger
@ -2688,11 +2694,8 @@ class AutoTestCopter(AutoTest):
self.takeoff(15, mode="ALT_HOLD") self.takeoff(15, mode="ALT_HOLD")
tstart = self.get_sim_time() tstart, tend = self.hover_for_interval(hover_time)
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
self.set_parameter("SIM_VIB_MOT_MAX", 0) self.set_parameter("SIM_VIB_MOT_MAX", 0)
self.do_RTL() self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6) psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
@ -5057,12 +5060,8 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 15 hover_time = 15
tstart = self.get_sim_time() tstart, tend = self.hover_for_interval(hover_time)
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True) vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
self.do_RTL() self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6) psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
@ -5232,12 +5231,9 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 15 hover_time = 15
tstart = self.get_sim_time() tstart, tend = self.hover_for_interval(hover_time)
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True) vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
self.do_RTL() self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6) psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
@ -5356,19 +5352,12 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 10 hover_time = 10
tstart = self.get_sim_time() tstart, tend_unused = self.hover_for_interval(hover_time)
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Switching motor vibration multiplier")
self.set_parameter("SIM_VIB_MOT_MULT", 5.0) self.set_parameter("SIM_VIB_MOT_MULT", 5.0)
self.progress("Hovering for %u seconds" % hover_time) tstart_unused, tend = self.hover_for_interval(hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
self.do_RTL() self.do_RTL()
@ -5539,11 +5528,7 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 15 hover_time = 15
self.progress("Hovering for %u seconds" % hover_time) tstart, tend = self.hover_for_interval(hover_time)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
# fly fast forrest! # fly fast forrest!
self.set_rc(3, 1900) self.set_rc(3, 1900)
@ -5581,11 +5566,7 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
self.progress("Hovering for %u seconds" % hover_time) tstart, tend = self.hover_for_interval(hover_time)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
self.do_RTL() self.do_RTL()
# prevent update parameters from messing with the settings when we pop the context # prevent update parameters from messing with the settings when we pop the context
@ -5649,16 +5630,13 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 60 hover_time = 60
tstart = self.get_sim_time()
self.progress("Hovering for %u seconds" % hover_time)
# start the tune # start the tune
self.set_rc(7, 2000) self.set_rc(7, 2000)
while self.get_sim_time_cached() < tstart + hover_time: tstart, tend = self.hover_for_interval(hover_time)
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True) vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
# finish the tune # finish the tune
self.set_rc(7, 1000) self.set_rc(7, 1000)
@ -5702,16 +5680,13 @@ class AutoTestCopter(AutoTest):
self.takeoff(10, mode="ALT_HOLD") self.takeoff(10, mode="ALT_HOLD")
hover_time = 60 hover_time = 60
tstart = self.get_sim_time()
self.progress("Hovering for %u seconds" % hover_time)
# start the tune # start the tune
self.set_rc(7, 2000) self.set_rc(7, 2000)
while self.get_sim_time_cached() < tstart + hover_time: self.hover_for_interval(hover_time)
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True) vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
# finish the tune # finish the tune
self.set_rc(7, 1000) self.set_rc(7, 1000)