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Tools: use pre-filtered values in motor vibration test and use more realistic values for noise

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This commit is contained in:
Andy Piper 2019-12-24 21:20:58 +00:00 committed by Andrew Tridgell
parent 52f59fb573
commit 0be0e93534
1 changed files with 14 additions and 14 deletions
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28
Tools/autotest/arducopter.py
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@ -1856,19 +1856,20 @@ class AutoTestCopter(AutoTest):
try:
self.set_rc_default()
self.set_parameter("INS_LOG_BAT_MASK", 3)
self.set_parameter("INS_LOG_BAT_OPT", 2)
self.set_parameter("INS_LOG_BAT_OPT", 0)
self.set_parameter("LOG_BITMASK", 958)
self.set_parameter("LOG_DISARMED", 0)
self.set_parameter("SIM_VIB_MOT_MAX", 350)
self.set_parameter("SIM_GYR_RND", 100)
self.set_parameter("SIM_DRIFT_SPEED", 0)
self.set_parameter("SIM_DRIFT_TIME", 0)
# these are real values taken from a 180mm Quad
self.set_parameter("SIM_GYR_RND", 20)
self.set_parameter("SIM_ACC_RND", 5)
self.set_parameter("SIM_ACC2_RND", 5)
self.set_parameter("SIM_INS_THR_MIN", 0.1)
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
self.change_alt(alt_min=15)
self.takeoff(15, mode="ALT_HOLD")
hover_time = 5
hover_time = 15
tstart = self.get_sim_time()
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
@ -1877,23 +1878,23 @@ class AutoTestCopter(AutoTest):
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# ignore the first 20Hz
# ignore the first 20Hz and look for a peak at -15dB or more
ignore_bins = 20
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
if numpy.amax(psd["X"][ignore_bins:]) < -22 or freq < 200 or freq > 300:
if numpy.amax(psd["X"][ignore_bins:]) < -15 or freq < 200 or freq > 300:
raise NotAchievedException("Did not detect a motor peak, found %f at %f dB" % (freq, numpy.amax(psd["X"][ignore_bins:])))
else:
self.progress("Detected motor peak at %fHz" % freq)
# now add a notch and check that the peak is squashed
# now add a notch and check that post-filter the peak is squashed below 40dB
self.set_parameter("INS_LOG_BAT_OPT", 2)
self.set_parameter("INS_NOTCH_ENABLE", 1)
self.set_parameter("INS_NOTCH_FREQ", freq)
self.set_parameter("INS_NOTCH_ATT", 50)
self.set_parameter("INS_NOTCH_BW", freq/2)
self.reboot_sitl()
self.takeoff(10, mode="LOITER")
self.change_alt(alt_min=15)
self.takeoff(15, mode="ALT_HOLD")
tstart = self.get_sim_time()
self.progress("Hovering for %u seconds" % hover_time)
@ -1903,7 +1904,7 @@ class AutoTestCopter(AutoTest):
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
if numpy.amax(psd["X"][ignore_bins:]) < -22:
if numpy.amax(psd["X"][ignore_bins:]) < -30:
self.progress("Did not detect a motor peak, found %f at %f dB" % (freq, numpy.amax(psd["X"][ignore_bins:])))
else:
raise NotAchievedException("Detected motor peak at %f Hz" % (freq))
@ -4497,7 +4498,6 @@ class AutoTestCopter(AutoTest):
"Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
"HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
"BeaconPosition": "See https://github.com/ArduPilot/ardupilot/issues/11689",
"MotorVibration": "See https://github.com/ArduPilot/ardupilot/issues/13072",
}
class AutoTestHeli(AutoTestCopter):