aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

autotest: loosen gyro fft test to avoid spurious CI failures

Browse Source
This commit is contained in:
Peter Barker 2020-03-01 15:53:01 +11:00 committed by Peter Barker
parent a9f3f9af40
commit 3fac5ad52c
1 changed files with 7 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
Tools/autotest/arducopter.py
View File

@ -3803,7 +3803,13 @@ class AutoTestCopter(AutoTest):
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 < -10:
'''
AUTOTEST: FAILED: "GyroFFT (Fly Gyro FFT)": NotAchievedException('Detected 178.703498Hz motor peak at -9.713545dB',) (see /home/travis/build/ArduPilot/buildlogs/ArduCopter-GyroFFT.txt)
That's pretty close to the -10 threshold; do we need to loosen the threshold?
Andy, 08:28
yeah, if you are seeing test failures it would make sense. The harmonic matching logic is not great right now and I am working on improvements.
'''
if dblevel < -9:
self.progress("Did not detect a motor peak, found %fHz at %fdB" % (freq, dblevel))
else:
raise NotAchievedException("Detected %fHz motor peak at %fdB" % (freq, dblevel))