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Tools: heli autotune autotest save gains and add tune check

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This commit is contained in:
Bill Geyer 2024-04-22 07:27:25 -04:00
parent b1b4ddea94
commit b03203c612
1 changed files with 34 additions and 6 deletions
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40
Tools/autotest/helicopter.py
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@ -876,7 +876,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.autotune_land_and_save_gains()
# test pitch rate P and Rate D tuning # test pitch rate P and Rate D tuning
self.set_parameters({ self.set_parameters({
@ -895,7 +895,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.autotune_land_and_save_gains()
# test Roll rate P and Rate D tuning # test Roll rate P and Rate D tuning
self.set_parameters({ self.set_parameters({
@ -914,7 +914,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.autotune_land_and_save_gains()
# test Roll and pitch angle P tuning # test Roll and pitch angle P tuning
self.set_parameters({ self.set_parameters({
@ -935,7 +935,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.autotune_land_and_save_gains()
# test yaw FF and rate P and Rate D # test yaw FF and rate P and Rate D
self.set_parameters({ self.set_parameters({
@ -956,8 +956,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.autotune_land_and_save_gains()
self.set_rc(8, 1000)
# test yaw angle P tuning # test yaw angle P tuning
self.set_parameters({ self.set_parameters({
@ -974,12 +973,41 @@ class AutoTestHelicopter(AutoTestCopter):
# hold position in loiter # hold position in loiter
self.change_mode('AUTOTUNE') self.change_mode('AUTOTUNE')
tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.autotune_land_and_save_gains()
# tune check
self.set_parameters({
"AUTOTUNE_AXES": 7,
"AUTOTUNE_SEQ": 16,
"AUTOTUNE_FRQ_MIN": 10,
"AUTOTUNE_FRQ_MAX": 80,
})
# Conduct testing from althold
self.takeoff(10, mode="ALT_HOLD")
# hold position in loiter
self.change_mode('AUTOTUNE')
tstart = self.get_sim_time() tstart = self.get_sim_time()
self.wait_statustext('AutoTune: Success', timeout=1000) self.wait_statustext('AutoTune: Success', timeout=1000)
now = self.get_sim_time() now = self.get_sim_time()
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.land_and_disarm() self.land_and_disarm()
def autotune_land_and_save_gains(self):
self.set_rc(3, 1000)
self.context_collect('STATUSTEXT')
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
self.set_rc(8, 1000)
self.wait_disarmed()
def land_and_disarm(self, **kwargs): def land_and_disarm(self, **kwargs):
super(AutoTestHelicopter, self).land_and_disarm(**kwargs) super(AutoTestHelicopter, self).land_and_disarm(**kwargs)
self.progress("Killing rotor speed") self.progress("Killing rotor speed")