autotest: add PID notches test

andyp1per · Sep 17, 2023 · 9a7f960 · 9a7f960
1 parent 7c6f34b
commit 9a7f960
Showing 1 changed file with 41 additions and 0 deletions.
diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
@@ -807,6 +807,46 @@ def TurbineStart(self, timeout=200):
         self.set_rc(8, 1000)
         self.disarm_vehicle()
 
+    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({
+                "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
+                "ATC_RAT_RLL_NEF": 120,
+                "ATC_RAT_RLL_NBW": 50,
+                "ATC_RAT_PIT_NEF": 120,
+                "ATC_RAT_PIT_NBW": 50,
+                "ATC_RAT_YAW_NEF": 180,
+                "ATC_RAT_YAW_NBW": 50,
+                "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()
+
+        if ex is not None:
+            raise ex
+
     def tests(self):
         '''return list of all tests'''
         ret = AutoTest.tests(self)
@@ -823,6 +863,7 @@ def tests(self):
             self.AirspeedDrivers,
             self.TurbineStart,
             self.NastyMission,
+            self.PIDNotches,
         ])
         return ret