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Tools: autotest dynamic notches

This commit is contained in:
Andy Piper 2019-07-15 19:53:20 +02:00 committed by Randy Mackay
parent 8ce7f02167
commit f02d21811d
1 changed files with 29 additions and 0 deletions
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29
Tools/autotest/arducopter.py
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@ -3025,6 +3025,30 @@ class AutoTestCopter(AutoTest):
(tdelta, max_good_tdelta))
self.progress("Vehicle returned")
def fly_dynamic_notches(self):
self.progress("Flying with dynamic notches")
self.set_parameter("INS_HNTCH_ENABLE", 1)
self.set_parameter("INS_HNTCH_FREQ", 80)
self.set_parameter("INS_HNTCH_REF", 0.35)
# first and third harmonic
self.set_parameter("INS_HNTCH_HMNCS", 5)
self.set_parameter("INS_NOTCH_ENABLE", 1)
self.set_parameter("INS_NOTCH_FREQ", 90)
self.reboot_sitl()
self.set_parameter("SIM_GYR_RND", 10)
self.takeoff(10, mode="LOITER")
self.change_mode("ALT_HOLD")
# fly fast forrest!
self.set_rc(3, 1900)
self.set_rc(2, 1200)
self.wait_groundspeed(5, 1000)
self.set_rc(3, 1500)
self.set_rc(2, 1500)
self.do_RTL()
def test_onboard_compass_calibration(self, timeout=240):
twist_x = 2.1
twist_y = 2.2
@ -3800,11 +3824,16 @@ class AutoTestCopter(AutoTest):
"Test onboard compass calibration",
self.test_onboard_compass_calibration),
("DynamicNotches",
"Fly Dynamic Notches",
self.fly_dynamic_notches),
("LogDownLoad",
"Log download",
lambda: self.log_download(
self.buildlogs_path("ArduCopter-log.bin"),
upload_logs=len(self.fail_list) > 0))
])
return ret