autotest: test 256 FT windows and fix calculation of log-based FFT
fix quadplane FFT reference calculation re-enable harmonic test use median for measuring in-flight FFT average as it's much more reliable relax quadplane filter restriction harmonic switching test tighten frequency check and loop twice to avoid heisenbugs
This commit is contained in:
Andy Piper
Andrew Tridgell
parent
d873ec4533
commit
1358e39ffd
@ -3764,8 +3764,10 @@ class AutoTestCopter(AutoTest):
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smaxhz = int(maxhz * scale)
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freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
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peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
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if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
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if peakdb < dblevel:
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raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
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elif peakhz is not None and abs(freq - peakhz) / peakhz > 0.05:
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raise NotAchievedException("Did not detect a motor peak at %fHz, found %fHz at %fdB" % (peakhz, freq, peakdb))
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else:
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self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
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@ -3801,60 +3803,103 @@ class AutoTestCopter(AutoTest):
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# basic gyro sample rate test
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self.progress("Flying with gyro FFT harmonic - Gyro sample rate")
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self.context_push()
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ex = None
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try:
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self.start_subtest("Hover to calculate approximate hover frequency")
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("EK2_ENABLE", 0)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("INS_FAST_SAMPLE", 0)
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self.set_parameter("LOG_BITMASK", 958)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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self.set_parameter("FFT_THR_REF", self.get_parameter("MOT_THST_HOVER"))
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 50)
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self.set_parameter("FFT_MAXHZ", 450)
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self.set_parameter("FFT_SNR_REF", 10)
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# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
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for loop in ["first", "second"]:
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try:
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self.start_subtest("Hover to calculate approximate hover frequency")
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("EK2_ENABLE", 0)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("INS_FAST_SAMPLE", 0)
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self.set_parameter("LOG_BITMASK", 958)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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self.set_parameter("FFT_THR_REF", self.get_parameter("MOT_THST_HOVER"))
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 50)
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self.set_parameter("FFT_MAXHZ", 450)
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self.set_parameter("FFT_SNR_REF", 10)
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# Step 1: inject actual motor noise and use the FFT to track it
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self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
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self.set_parameter("FFT_WINDOW_SIZE", 64)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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# Step 1: inject actual motor noise and use the FFT to track it
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self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
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self.set_parameter("FFT_WINDOW_SIZE", 64)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 64)
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 64)
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# Step 2: add a second harmonic and check the first is still tracked
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self.start_subtest("Add a fixed frequency harmonic at twice the hover frequency and check the right harmonic is found")
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self.set_parameter("SIM_VIB_FREQ_X", freq * 2)
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self.set_parameter("SIM_VIB_FREQ_Y", freq * 2)
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self.set_parameter("SIM_VIB_FREQ_Z", freq * 2)
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self.set_parameter("SIM_VIB_MOT_MULT", 0.25) # halve the motor noise so that the higher harmonic dominates
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self.reboot_sitl()
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# Step 2: add a second harmonic and check the first is still tracked
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self.start_subtest("Add a fixed frequency harmonic at twice the hover frequency and check the right harmonic is found")
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self.set_parameter("SIM_VIB_FREQ_X", freq * 2)
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self.set_parameter("SIM_VIB_FREQ_Y", freq * 2)
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self.set_parameter("SIM_VIB_FREQ_Z", freq * 2)
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self.set_parameter("SIM_VIB_MOT_MULT", 0.25) # halve the motor noise so that the higher harmonic dominates
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self.reboot_sitl()
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self.hover_and_check_matched_frequency(-15, 100, 250, 64, None)
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self.hover_and_check_matched_frequency(-15, 100, 250, 64, None)
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self.set_parameter("SIM_VIB_FREQ_X", 0)
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self.set_parameter("SIM_VIB_FREQ_Y", 0)
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self.set_parameter("SIM_VIB_FREQ_Z", 0)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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# prevent update parameters from messing with the settings when we pop the context
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self.set_parameter("FFT_ENABLE", 0)
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self.reboot_sitl()
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# Step 3: switch harmonics mid flight and check for tracking
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self.set_parameter("FFT_HMNC_PEAK", 0)
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self.reboot_sitl()
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except Exception as e:
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self.progress("Exception caught: %s" % (self.get_exception_stacktrace(e)))
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ex = e
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self.takeoff(10, mode="ALT_HOLD")
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hover_time = 10
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tstart = self.get_sim_time()
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self.progress("Hovering for %u seconds" % hover_time)
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while self.get_sim_time_cached() < tstart + hover_time:
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attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
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vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
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self.set_parameter("SIM_VIB_MOT_MULT", 5.0)
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self.progress("Hovering for %u seconds" % hover_time)
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while self.get_sim_time_cached() < tstart + hover_time:
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attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
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vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
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tend = self.get_sim_time()
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self.do_RTL()
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mlog = self.dfreader_for_current_onboard_log()
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m = mlog.recv_match(type='FTN1', blocking=False,
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condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
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freqs = []
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while m is not None:
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freqs.append(m.PkAvg)
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m = mlog.recv_match(type='FTN1', blocking=False,
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condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
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# peak within resolution of FFT length, the highest energy peak switched but our detection should not
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pkAvg = numpy.median(numpy.asarray(freqs))
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freqDelta = 1000. / self.get_parameter("FFT_WINDOW_SIZE")
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if abs(pkAvg - freq) > freqDelta:
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raise NotAchievedException("FFT did not detect a harmonic motor peak, found %f, wanted %f" % (pkAvg, freq))
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self.set_parameter("SIM_VIB_FREQ_X", 0)
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self.set_parameter("SIM_VIB_FREQ_Y", 0)
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self.set_parameter("SIM_VIB_FREQ_Z", 0)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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# prevent update parameters from messing with the settings when we pop the context
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self.set_parameter("FFT_ENABLE", 0)
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self.reboot_sitl()
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except Exception as e:
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self.progress("Exception caught in %s loop: %s" % (loop, self.get_exception_stacktrace(e)))
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if loop is not "second":
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continue
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ex = e
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break
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self.context_pop()
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@ -3868,131 +3913,141 @@ class AutoTestCopter(AutoTest):
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self.context_push()
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ex = None
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try:
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("EK2_ENABLE", 0)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("INS_FAST_SAMPLE", 0)
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self.set_parameter("LOG_BITMASK", 958)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 50)
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self.set_parameter("FFT_MAXHZ", 450)
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self.set_parameter("FFT_SNR_REF", 10)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
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for loop in ["first" "second"]:
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try:
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self.set_rc_default()
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# magic tridge EKF type that dramatically speeds up the test
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self.set_parameter("AHRS_EKF_TYPE", 10)
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self.set_parameter("EK2_ENABLE", 0)
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self.set_parameter("INS_LOG_BAT_MASK", 3)
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self.set_parameter("INS_LOG_BAT_OPT", 0)
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self.set_parameter("INS_GYRO_FILTER", 100)
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self.set_parameter("INS_FAST_SAMPLE", 0)
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self.set_parameter("LOG_BITMASK", 958)
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self.set_parameter("LOG_DISARMED", 0)
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self.set_parameter("SIM_DRIFT_SPEED", 0)
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self.set_parameter("SIM_DRIFT_TIME", 0)
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# enable a noisy motor peak
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self.set_parameter("SIM_GYR_RND", 20)
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# enabling FFT will also enable the arming check, self-testing the functionality
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self.set_parameter("FFT_ENABLE", 1)
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self.set_parameter("FFT_MINHZ", 50)
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self.set_parameter("FFT_MAXHZ", 450)
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self.set_parameter("FFT_SNR_REF", 10)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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self.set_parameter("FFT_WINDOW_OLAP", 0.75)
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self.set_parameter("FFT_SAMPLE_MODE", 0)
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# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
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# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
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# a 250Hz peak should be detectable within 5%
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.set_parameter("SIM_VIB_FREQ_X", 250)
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self.set_parameter("SIM_VIB_FREQ_Y", 250)
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self.set_parameter("SIM_VIB_FREQ_Z", 250)
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# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
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# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
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# a 250Hz peak should be detectable within 5%
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.set_parameter("SIM_VIB_FREQ_X", 250)
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self.set_parameter("SIM_VIB_FREQ_Y", 250)
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self.set_parameter("SIM_VIB_FREQ_Z", 250)
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self.reboot_sitl()
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self.reboot_sitl()
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
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# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
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# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
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self.set_parameter("FFT_WINDOW_SIZE", 128) # requires #13741 to work at 256
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
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# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
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self.set_parameter("FFT_WINDOW_SIZE", 256)
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self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
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self.reboot_sitl()
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self.reboot_sitl()
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 256, 250)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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# find a motor peak
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self.hover_and_check_matched_frequency(-15, 100, 350, 256, 250)
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self.set_parameter("FFT_WINDOW_SIZE", 128)
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# Step 2: inject actual motor noise and use the standard length FFT to track it
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self.start_subtest("Hover and check that the FFT can find the motor noise")
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self.set_parameter("SIM_VIB_FREQ_X", 0)
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self.set_parameter("SIM_VIB_FREQ_Y", 0)
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self.set_parameter("SIM_VIB_FREQ_Z", 0)
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self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
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self.set_parameter("FFT_WINDOW_SIZE", 32)
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self.set_parameter("FFT_WINDOW_OLAP", 0.5)
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# Step 2: inject actual motor noise and use the standard length FFT to track it
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self.start_subtest("Hover and check that the FFT can find the motor noise")
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self.set_parameter("SIM_VIB_FREQ_X", 0)
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self.set_parameter("SIM_VIB_FREQ_Y", 0)
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self.set_parameter("SIM_VIB_FREQ_Z", 0)
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self.set_parameter("SIM_VIB_MOT_MAX", 250) # gives a motor peak at about 175Hz
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self.set_parameter("FFT_WINDOW_SIZE", 32)
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self.set_parameter("FFT_WINDOW_OLAP", 0.5)
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 32)
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self.reboot_sitl()
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freq = self.hover_and_check_matched_frequency(-15, 100, 250, 32)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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self.set_parameter("SIM_VIB_MOT_MULT", 1.)
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# Step 3: add a FFT dynamic notch and check that the peak is squashed
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self.start_subtest("Add a dynamic notch, hover and check that the noise peak is now gone")
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self.set_parameter("INS_LOG_BAT_OPT", 2)
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self.set_parameter("INS_HNTCH_ENABLE", 1)
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self.set_parameter("INS_HNTCH_FREQ", freq)
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self.set_parameter("INS_HNTCH_REF", 1.0)
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self.set_parameter("INS_HNTCH_ATT", 50)
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self.set_parameter("INS_HNTCH_BW", freq/2)
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self.set_parameter("INS_HNTCH_MODE", 4)
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self.reboot_sitl()
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# Step 3: add a FFT dynamic notch and check that the peak is squashed
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self.start_subtest("Add a dynamic notch, hover and check that the noise peak is now gone")
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self.set_parameter("INS_LOG_BAT_OPT", 2)
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self.set_parameter("INS_HNTCH_ENABLE", 1)
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self.set_parameter("INS_HNTCH_FREQ", freq)
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self.set_parameter("INS_HNTCH_REF", 1.0)
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self.set_parameter("INS_HNTCH_ATT", 50)
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self.set_parameter("INS_HNTCH_BW", freq/2)
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self.set_parameter("INS_HNTCH_MODE", 4)
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self.reboot_sitl()
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self.takeoff(10, mode="ALT_HOLD")
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hover_time = 15
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ignore_bins = 20
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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self.takeoff(10, mode="ALT_HOLD")
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hover_time = 15
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ignore_bins = 20
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self.progress("Hovering for %u seconds" % hover_time)
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tstart = self.get_sim_time()
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while self.get_sim_time_cached() < tstart + hover_time:
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attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
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tend = self.get_sim_time()
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# fly fast forrest!
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self.set_rc(3, 1900)
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self.set_rc(2, 1200)
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self.wait_groundspeed(5, 1000)
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self.set_rc(3, 1500)
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self.set_rc(2, 1500)
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# fly fast forrest!
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self.set_rc(3, 1900)
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self.set_rc(2, 1200)
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self.wait_groundspeed(5, 1000)
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self.set_rc(3, 1500)
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self.set_rc(2, 1500)
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
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dblevel = numpy.amax(psd["X"][ignore_bins:])
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self.do_RTL()
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psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
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if dblevel < -9:
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self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, dblevel))
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else:
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raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, dblevel))
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# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
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scale = 1000. / 1024.
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sminhz = int(100 * scale)
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smaxhz = int(350 * scale)
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freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
|
||||
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
|
||||
if peakdb < -9:
|
||||
self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
|
||||
else:
|
||||
raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, peakdb))
|
||||
|
||||
# Step 4: loop sample rate test with larger window
|
||||
self.start_subtest("Hover and check that the FFT can find the motor noise when running at fast loop rate")
|
||||
# we are limited to half the loop rate for frequency detection
|
||||
self.set_parameter("FFT_MAXHZ", 185)
|
||||
self.set_parameter("INS_LOG_BAT_OPT", 0)
|
||||
self.set_parameter("SIM_VIB_MOT_MAX", 220)
|
||||
self.set_parameter("FFT_WINDOW_SIZE", 64)
|
||||
self.set_parameter("FFT_WINDOW_OLAP", 0.75)
|
||||
self.set_parameter("FFT_SAMPLE_MODE", 1)
|
||||
self.reboot_sitl()
|
||||
# Step 4: loop sample rate test with larger window
|
||||
self.start_subtest("Hover and check that the FFT can find the motor noise when running at fast loop rate")
|
||||
# we are limited to half the loop rate for frequency detection
|
||||
self.set_parameter("FFT_MAXHZ", 185)
|
||||
self.set_parameter("INS_LOG_BAT_OPT", 0)
|
||||
self.set_parameter("SIM_VIB_MOT_MAX", 220)
|
||||
self.set_parameter("FFT_WINDOW_SIZE", 64)
|
||||
self.set_parameter("FFT_WINDOW_OLAP", 0.75)
|
||||
self.set_parameter("FFT_SAMPLE_MODE", 1)
|
||||
self.reboot_sitl()
|
||||
|
||||
self.takeoff(10, mode="ALT_HOLD")
|
||||
self.takeoff(10, mode="ALT_HOLD")
|
||||
|
||||
self.progress("Hovering for %u seconds" % hover_time)
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time_cached() < tstart + hover_time:
|
||||
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
|
||||
tend = self.get_sim_time()
|
||||
self.progress("Hovering for %u seconds" % hover_time)
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time_cached() < tstart + hover_time:
|
||||
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
|
||||
tend = self.get_sim_time()
|
||||
|
||||
self.do_RTL()
|
||||
# prevent update parameters from messing with the settings when we pop the context
|
||||
self.set_parameter("FFT_ENABLE", 0)
|
||||
self.reboot_sitl()
|
||||
self.do_RTL()
|
||||
# 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:
|
||||
self.progress("Exception caught: %s" % (self.get_exception_stacktrace(e)))
|
||||
ex = e
|
||||
except Exception as e:
|
||||
self.progress("Exception caught in %s loop: %s" % (loop, self.get_exception_stacktrace(e)))
|
||||
if loop is not "second":
|
||||
continue
|
||||
ex = e
|
||||
break
|
||||
|
||||
self.context_pop()
|
||||
|
||||
@ -5087,7 +5142,6 @@ 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",
|
||||
"GyroFFT": "Temporarily disabled due to flapping test",
|
||||
}
|
||||
|
||||
class AutoTestHeli(AutoTestCopter):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user