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):
|
||||
smaxhz = int(maxhz * scale)
|
||||
freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
|
||||
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
|
||||
if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
|
||||
if peakdb < dblevel:
|
||||
raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
|
||||
elif peakhz is not None and abs(freq - peakhz) / peakhz > 0.05:
|
||||
raise NotAchievedException("Did not detect a motor peak at %fHz, found %fHz at %fdB" % (peakhz, freq, peakdb))
|
||||
else:
|
||||
self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
|
||||
|
||||
@ -3801,8 +3803,9 @@ class AutoTestCopter(AutoTest):
|
||||
# basic gyro sample rate test
|
||||
self.progress("Flying with gyro FFT harmonic - Gyro sample rate")
|
||||
self.context_push()
|
||||
|
||||
ex = None
|
||||
# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
|
||||
for loop in ["first", "second"]:
|
||||
try:
|
||||
self.start_subtest("Hover to calculate approximate hover frequency")
|
||||
self.set_rc_default()
|
||||
@ -3844,6 +3847,45 @@ class AutoTestCopter(AutoTest):
|
||||
|
||||
self.hover_and_check_matched_frequency(-15, 100, 250, 64, None)
|
||||
|
||||
# Step 3: switch harmonics mid flight and check for tracking
|
||||
self.set_parameter("FFT_HMNC_PEAK", 0)
|
||||
self.reboot_sitl()
|
||||
|
||||
self.takeoff(10, mode="ALT_HOLD")
|
||||
|
||||
hover_time = 10
|
||||
tstart = self.get_sim_time()
|
||||
self.progress("Hovering for %u seconds" % hover_time)
|
||||
while self.get_sim_time_cached() < tstart + hover_time:
|
||||
attitude = self.mav.recv_match(type='ATTITUDE', blocking=True)
|
||||
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
|
||||
self.set_parameter("SIM_VIB_MOT_MULT", 5.0)
|
||||
|
||||
self.progress("Hovering for %u seconds" % hover_time)
|
||||
while self.get_sim_time_cached() < tstart + hover_time:
|
||||
attitude = 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()
|
||||
|
||||
mlog = self.dfreader_for_current_onboard_log()
|
||||
m = mlog.recv_match(type='FTN1', blocking=False,
|
||||
condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
|
||||
freqs = []
|
||||
while m is not None:
|
||||
freqs.append(m.PkAvg)
|
||||
m = mlog.recv_match(type='FTN1', blocking=False,
|
||||
condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
|
||||
|
||||
# peak within resolution of FFT length, the highest energy peak switched but our detection should not
|
||||
pkAvg = numpy.median(numpy.asarray(freqs))
|
||||
freqDelta = 1000. / self.get_parameter("FFT_WINDOW_SIZE")
|
||||
|
||||
if abs(pkAvg - freq) > freqDelta:
|
||||
raise NotAchievedException("FFT did not detect a harmonic motor peak, found %f, wanted %f" % (pkAvg, freq))
|
||||
|
||||
self.set_parameter("SIM_VIB_FREQ_X", 0)
|
||||
self.set_parameter("SIM_VIB_FREQ_Y", 0)
|
||||
self.set_parameter("SIM_VIB_FREQ_Z", 0)
|
||||
@ -3853,8 +3895,11 @@ class AutoTestCopter(AutoTest):
|
||||
self.reboot_sitl()
|
||||
|
||||
except Exception as e:
|
||||
self.progress("Exception caught: %s" % (self.get_exception_stacktrace(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()
|
||||
|
||||
@ -3868,6 +3913,8 @@ class AutoTestCopter(AutoTest):
|
||||
self.context_push()
|
||||
|
||||
ex = None
|
||||
# we are dealing with probabalistic scenarios involving threads, have two bites at the cherry
|
||||
for loop in ["first" "second"]:
|
||||
try:
|
||||
self.set_rc_default()
|
||||
# magic tridge EKF type that dramatically speeds up the test
|
||||
@ -3890,6 +3937,7 @@ class AutoTestCopter(AutoTest):
|
||||
self.set_parameter("FFT_SNR_REF", 10)
|
||||
self.set_parameter("FFT_WINDOW_SIZE", 128)
|
||||
self.set_parameter("FFT_WINDOW_OLAP", 0.75)
|
||||
self.set_parameter("FFT_SAMPLE_MODE", 0)
|
||||
|
||||
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
|
||||
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
|
||||
@ -3906,7 +3954,7 @@ class AutoTestCopter(AutoTest):
|
||||
|
||||
# Step 1b: run the same test with an FFT length of 256 which is needed to flush out a
|
||||
# whole host of bugs related to uint8_t. This also tests very accurately the frequency resolution
|
||||
self.set_parameter("FFT_WINDOW_SIZE", 128) # requires #13741 to work at 256
|
||||
self.set_parameter("FFT_WINDOW_SIZE", 256)
|
||||
self.start_subtest("Inject noise at 250Hz and check the FFT can find the noise")
|
||||
|
||||
self.reboot_sitl()
|
||||
@ -3958,13 +4006,17 @@ 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]
|
||||
dblevel = numpy.amax(psd["X"][ignore_bins:])
|
||||
|
||||
if dblevel < -9:
|
||||
self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, dblevel))
|
||||
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
|
||||
scale = 1000. / 1024.
|
||||
sminhz = int(100 * scale)
|
||||
smaxhz = int(350 * scale)
|
||||
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, dblevel))
|
||||
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")
|
||||
@ -3991,8 +4043,11 @@ class AutoTestCopter(AutoTest):
|
||||
self.reboot_sitl()
|
||||
|
||||
except Exception as e:
|
||||
self.progress("Exception caught: %s" % (self.get_exception_stacktrace(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