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autotest: tidy Helicopter missions to use new infrastructure
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autotest: tidy PosHoldTakeoff heli test

autotest: tidy StabilizeTakeoff heli test

autotest: tidy SplineWaypoint heli test

autotest: tidy ManAutoRotation heli test

autotest: tidy AirspeedDrivers heli test

autotest: tidy PIDNotches heli test
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@peterbarker
peterbarker committed Jul 26, 2024
1 parent 605a9d3 commit f1a1b11
Showing 1 changed file with 89 additions and 143 deletions.
232 changes: 89 additions & 143 deletions Tools/autotest/helicopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -224,101 +224,67 @@ def hover(self):

def PosHoldTakeOff(self):
"""ensure vehicle stays put until it is ready to fly"""
self.context_push()

ex = None
try:
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.change_mode('POSHOLD')
self.zero_throttle()
self.set_rc(8, 1000)
self.wait_ready_to_arm()
# Arm
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_relalt_mm = 1000
if abs(m.relative_alt) > max_relalt_mm:
raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
(m.relative_alt, max_relalt_mm))

self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.hover()

# make sure we haven't already reached alt:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
max_initial_alt = 1500
if abs(m.relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(m.relative_alt), max_initial_alt))

self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6.9, 8, relative=True)

self.progress("Making sure we stop at our takeoff altitude")
tstart = self.get_sim_time()
while self.get_sim_time() - tstart < 5:
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
delta = abs(7000 - m.relative_alt)
self.progress("alt=%f delta=%f" % (m.relative_alt/1000,
delta/1000))
if delta > 1000:
raise NotAchievedException("Failed to maintain takeoff alt")
self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.set_parameter("PILOT_TKOFF_ALT", 700)
self.change_mode('POSHOLD')
self.zero_throttle()
self.set_rc(8, 1000)
self.wait_ready_to_arm()
# Arm
self.arm_vehicle()
self.progress("Raising rotor speed")
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
max_relalt = 1 # metres
relative_alt = self.get_altitude(relative=True)
if abs(relative_alt) > max_relalt:
raise NotAchievedException("Took off prematurely (abs(%f)>%f)" %
(relative_alt, max_relalt))

self.progress("Pushing collective past half-way")
self.set_rc(3, 1600)
self.delay_sim_time(0.5)
self.hover()

self.land_and_disarm()
# make sure we haven't already reached alt:
relative_alt = self.get_altitude(relative=True)
max_initial_alt = 1.5 # metres
if abs(relative_alt) > max_initial_alt:
raise NotAchievedException("Took off too fast (%f > %f" %
(abs(relative_alt), max_initial_alt))

self.context_pop()
self.progress("Monitoring takeoff-to-alt")
self.wait_altitude(6, 8, relative=True, minimum_duration=5)
self.progress("takeoff OK")

if ex is not None:
raise ex
self.land_and_disarm()

def StabilizeTakeOff(self):
"""Fly stabilize takeoff"""
self.context_push()

ex = None
try:
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
if abs(m.relative_alt) > 100:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle past half-way")
self.set_rc(3, 1650)

self.progress("Monitoring takeoff")
self.wait_altitude(6.9, 8, relative=True)

self.progress("takeoff OK")
except Exception as e:
self.print_exception_caught(e)
ex = e
self.change_mode('STABILIZE')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(8, 2000)
self.progress("wait for rotor runup to complete")
self.wait_servo_channel_value(8, 1659, timeout=10)
self.delay_sim_time(20)
# check we are still on the ground...
relative_alt = self.get_altitude(relative=True)
if abs(relative_alt) > 0.1:
raise NotAchievedException("Took off prematurely")
self.progress("Pushing throttle past half-way")
self.set_rc(3, 1650)

self.land_and_disarm()
self.progress("Monitoring takeoff")
self.wait_altitude(6.9, 8, relative=True)

self.context_pop()
self.progress("takeoff OK")

if ex is not None:
raise ex
self.land_and_disarm()

def SplineWaypoint(self, timeout=600):
"""ensure basic spline functionality works"""
Expand All @@ -331,13 +297,7 @@ def SplineWaypoint(self, timeout=600):
self.delay_sim_time(20)
self.change_mode("AUTO")
self.set_rc(3, 1500)
tstart = self.get_sim_time()
while True:
if self.get_sim_time() - tstart > timeout:
raise AutoTestTimeoutException("Vehicle did not disarm after mission")
if not self.armed():
break
self.delay_sim_time(1)
self.wait_disarmed(timeout=600)
self.progress("Lowering rotor speed")
self.set_rc(8, 1000)

Expand Down Expand Up @@ -380,13 +340,15 @@ def ManAutoRotation(self, timeout=600):
"""Check autorotation power recovery behaviour"""
RAMP_TIME = 4
AROT_RAMP_TIME = 2
self.set_parameter("H_RSC_AROT_MN_EN", 1)
self.set_parameter("H_RSC_AROT_ENG_T", AROT_RAMP_TIME)
self.set_parameter("H_RSC_AROT_IDLE", 20)
self.set_parameter("H_RSC_RAMP_TIME", RAMP_TIME)
self.set_parameter("H_RSC_IDLE", 0)
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.set_parameters({
"H_RSC_AROT_MN_EN": 1,
"H_RSC_AROT_ENG_T": AROT_RAMP_TIME,
"H_RSC_AROT_IDLE": 20,
"H_RSC_RAMP_TIME": RAMP_TIME,
"H_RSC_IDLE": 0,
"PILOT_TKOFF_ALT": start_alt * 100,
})
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
Expand Down Expand Up @@ -680,7 +642,14 @@ def fly_mission(self, filename, strict=True):
def AirspeedDrivers(self, timeout=600):
'''Test AirSpeed drivers'''

# Copter's airspeed sensors are off by default
self.set_parameters({
"ARSPD_ENABLE": 1,
"ARSPD_TYPE": 2, # Analog airspeed driver
"ARSPD_PIN": 1, # Analog airspeed driver pin for SITL
})
# set the start location to CMAC to use same test script as other vehicles

self.sitl_start_loc = mavutil.location(-35.362881, 149.165222, 582.000000, 90.0) # CMAC
self.customise_SITL_commandline(["--home", "%s,%s,%s,%s"
% (-35.362881, 149.165222, 582.000000, 90.0)])
Expand All @@ -703,12 +672,6 @@ def check_airspeeds(mav, m):
if delta > 3:
raise NotAchievedException("Airspeed mismatch (as1=%f as2=%f)" % (airspeed[0], airspeed[1]))

# Copter's airspeed sensors are off by default
self.set_parameter("ARSPD_ENABLE", 1)
self.set_parameter("ARSPD_TYPE", 2) # Analog airspeed driver
self.set_parameter("ARSPD_PIN", 1) # Analog airspeed driver pin for SITL
self.reboot_sitl()

airspeed_sensors = [
("MS5525", 3, 1),
("DLVR", 7, 2),
Expand All @@ -734,8 +697,6 @@ def check_airspeeds(mav, m):
self.disarm_vehicle()
self.context_pop()

self.reboot_sitl()

def TurbineStart(self, timeout=200):
"""Check Turbine Start Feature"""
RAMP_TIME = 4
Expand Down Expand Up @@ -806,43 +767,28 @@ def TurbineStart(self, timeout=200):
def PIDNotches(self):
"""Use dynamic harmonic notch to control motor noise."""
self.progress("Flying with PID notches")
self.context_push()

ex = None
try:
self.set_parameters({
"FILT1_TYPE": 1,
"FILT2_TYPE": 1,
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
"LOG_BITMASK": 65535,
"LOG_DISARMED": 0,
"SIM_VIB_FREQ_X": 120, # roll
"SIM_VIB_FREQ_Y": 120, # pitch
"SIM_VIB_FREQ_Z": 180, # yaw
"FILT1_NOTCH_FREQ": 120,
"FILT2_NOTCH_FREQ": 180,
"ATC_RAT_RLL_NEF": 1,
"ATC_RAT_PIT_NEF": 1,
"ATC_RAT_YAW_NEF": 2,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()

self.takeoff(10, mode="ALT_HOLD")

freq, hover_throttle, peakdb1 = self.hover_and_check_matched_frequency_with_fft(5, 20, 350, reverse=True)

except Exception as e:
self.print_exception_caught(e)
ex = e

self.context_pop()
self.set_parameters({
"FILT1_TYPE": 1,
"FILT2_TYPE": 1,
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100, # set the gyro filter high so we can observe behaviour
"LOG_BITMASK": 65535,
"LOG_DISARMED": 0,
"SIM_VIB_FREQ_X": 120, # roll
"SIM_VIB_FREQ_Y": 120, # pitch
"SIM_VIB_FREQ_Z": 180, # yaw
"FILT1_NOTCH_FREQ": 120,
"FILT2_NOTCH_FREQ": 180,
"ATC_RAT_RLL_NEF": 1,
"ATC_RAT_PIT_NEF": 1,
"ATC_RAT_YAW_NEF": 2,
"SIM_GYR1_RND": 5,
})
self.reboot_sitl()

if ex is not None:
raise ex
self.hover_and_check_matched_frequency_with_fft(5, 20, 350, reverse=True, takeoff=True)

def AutoTune(self):
"""Test autotune mode"""
Expand Down

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