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autotest: clarify AutoTuneSwitch test

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Peter Barker 2024-06-09 07:19:57 +10:00 committed by Peter Barker
parent 2c3594b8ff
commit 3ede599cfd
2 changed files with 74 additions and 37 deletions
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107
Tools/autotest/arducopter.py
View File

@ -2585,16 +2585,39 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
"RC8_OPTION": 17,
"ATC_RAT_RLL_FLTT": 20,
})
rlld = self.get_parameter("ATC_RAT_RLL_D")
rlli = self.get_parameter("ATC_RAT_RLL_I")
rllp = self.get_parameter("ATC_RAT_RLL_P")
rllt = self.get_parameter("ATC_RAT_RLL_FLTT")
self.progress("AUTOTUNE pre-gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"),
self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
self.takeoff(10, mode='LOITER')
def print_gains(name, gains):
self.progress(f"AUTOTUNE {name} gains are P:%f I:%f D:%f" % (
gains["ATC_RAT_RLL_P"],
gains["ATC_RAT_RLL_I"],
gains["ATC_RAT_RLL_D"]
))
def get_roll_gains(name):
ret = self.get_parameters([
"ATC_RAT_RLL_D",
"ATC_RAT_RLL_I",
"ATC_RAT_RLL_P",
], verbose=False)
print_gains(name, ret)
return ret
def gains_same(gains1, gains2):
for c in 'P', 'I', 'D':
p_name = f"ATC_RAT_RLL_{c}"
if abs(gains1[p_name] - gains2[p_name]) > 0.00001:
return False
return True
self.progress("Take a copy of original gains")
original_gains = get_roll_gains("pre-tuning")
scaled_original_gains = copy.copy(original_gains)
scaled_original_gains["ATC_RAT_RLL_I"] *= 0.1
pre_rllt = self.get_parameter("ATC_RAT_RLL_FLTT")
# hold position in loiter and run autotune
self.set_rc(8, 1850)
self.wait_mode('AUTOTUNE')
@ -2610,46 +2633,60 @@ class AutoTestCopter(vehicle_test_suite.TestSuite):
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "Determination Failed" in m.text:
break
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# Check original gains are re-instated
post_gains = get_roll_gains("post")
if gains_same(original_gains, post_gains):
raise NotAchievedException("AUTOTUNE gains not changed")
# because of the way AutoTune works, once autotune is
# complete we return the original parameters via
# parameter-fetching, but fly on the tuned parameters
# (both sets with the I term scaled down). This test
# makes sure that's still the case. It would be nice
# if the PIDs parameters were `set` on success, but
# they aren't... Note that if we use the switch to
# restore the original gains and then start testing
# again (with the switch) then we see the new gains!
# gains are scaled during the testing phase:
if not gains_same(scaled_original_gains, post_gains):
raise NotAchievedException("AUTOTUNE gains were reported as just original gains in test-mode. If you're fixing this, good!") # noqa
self.progress("Check original gains are re-instated by switch")
self.set_rc(8, 1100)
self.delay_sim_time(1)
self.progress("AUTOTUNE original gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld != self.get_parameter("ATC_RAT_RLL_D") or
rlli != self.get_parameter("ATC_RAT_RLL_I") or
rllp != self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains still present")
# Use autotuned gains
current_gains = get_roll_gains("set-original")
if not gains_same(original_gains, current_gains):
raise NotAchievedException("AUTOTUNE original gains not restored")
self.progress("Use autotuned gains")
self.set_rc(8, 1850)
self.delay_sim_time(1)
self.progress("AUTOTUNE testing gains are P:%f I:%f D:%f" %
(self.get_parameter("ATC_RAT_RLL_P"), self.get_parameter("ATC_RAT_RLL_I"),
self.get_parameter("ATC_RAT_RLL_D")))
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
# land without changing mode
tuned_gains = get_roll_gains("tuned")
if gains_same(tuned_gains, original_gains):
raise NotAchievedException("AUTOTUNE tuned gains same as pre gains")
if gains_same(tuned_gains, scaled_original_gains):
raise NotAchievedException("AUTOTUNE tuned gains same as scaled pre gains")
self.progress("land without changing mode")
self.set_rc(3, 1000)
self.wait_altitude(-1, 5, relative=True)
self.wait_disarmed()
# Check gains are still there after disarm
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
self.progress("Check gains are still there after disarm")
disarmed_gains = get_roll_gains("post-disarm")
if not gains_same(tuned_gains, disarmed_gains):
raise NotAchievedException("AUTOTUNE gains not present on disarm")
self.reboot_sitl()
# Check gains are still there after reboot
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
rlli == self.get_parameter("ATC_RAT_RLL_I") or
rllp == self.get_parameter("ATC_RAT_RLL_P")):
self.progress("Check gains are still there after reboot")
reboot_gains = get_roll_gains("post-reboot")
if not gains_same(tuned_gains, reboot_gains):
raise NotAchievedException("AUTOTUNE gains not present on reboot")
# Check FLTT is unchanged
if rllt != self.get_parameter("ATC_RAT_RLL_FLTT"):
self.progress("Check FLTT is unchanged")
if pre_rllt != self.get_parameter("ATC_RAT_RLL_FLTT"):
raise NotAchievedException("AUTOTUNE FLTT was modified")
return

4
Tools/autotest/vehicle_test_suite.py
View File

@ -6026,11 +6026,11 @@ class TestSuite(ABC):
pass
raise NotAchievedException("Failed to retrieve parameter (%s)" % name)
def get_parameters(self, some_list):
def get_parameters(self, some_list, **kwargs):
ret = {}
for n in some_list:
ret[n] = self.get_parameter(n)
ret[n] = self.get_parameter(n, **kwargs)
return ret