autotest: test for scripted notches

ArduPilot · Nov 30, 2024 · 07910ac · 07910ac
1 parent a9f036e
commit 07910ac
Showing 1 changed file with 38 additions and 0 deletions.
diff --git a/Tools/autotest/arducopter.py b/Tools/autotest/arducopter.py
@@ -6405,6 +6405,43 @@ def StaticNotches(self):
         })
         self.reboot_sitl()
 
+        self.hover_and_check_matched_frequency_with_fft(dblevel=-15, minhz=20, maxhz=350, reverse=True, instance=2)
+
+    def StaticScriptedNotches(self):
+        """Use a scripted static harmonic notch to control motor noise."""
+        self.progress("Flying with Scripted Static notches")
+        self.set_parameters({
+            "AHRS_EKF_TYPE": 10,
+            "INS_LOG_BAT_MASK": 3,
+            "INS_LOG_BAT_OPT": 4,
+            "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": 120,  # yaw
+            "SIM_VIB_MOT_MULT": 0,
+            "SIM_GYR1_RND": 5,
+            "INS_HNTCH_ENABLE": 1,
+            #"INS_HNTCH_FREQ": 120,
+            "INS_HNTCH_REF": 1.0,
+            "INS_HNTCH_HMNCS": 1, # first and second harmonic
+            "INS_HNTCH_ATT": 50,
+            "INS_HNTCH_BW": 40,
+            "INS_HNTCH_MODE": 6, # static notch
+            "SCR_ENABLE": 1,
+        })
+
+        # install copter-posoffset script
+        self.install_test_script_context('static_notches.lua')
+        self.reboot_sitl()
+
+        self.set_parameters({
+            "SNOTCH1_FREQ": 120,
+            "SNOTCH2_FREQ": 240,
+        })
+
+
         self.hover_and_check_matched_frequency_with_fft(dblevel=-15, minhz=20, maxhz=350, reverse=True, instance=2)
 
     def ThrottleGainBoost(self):
@@ -12177,6 +12214,7 @@ def tests2b(self):  # this block currently around 9.5mins here
             self.DynamicRpmNotches, # Do not add attempts to this - failure is sign of a bug
             self.PIDNotches,
             self.StaticNotches,
+            self.StaticScriptedNotches,
             self.RefindGPS,
             Test(self.GyroFFT, attempts=1, speedup=8),
             Test(self.GyroFFTHarmonic, attempts=4, speedup=8),