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Autotest: Fixup Autorotation tests for new mode change and bailout me…
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…thods
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@MattKear
MattKear committed Aug 10, 2024
1 parent 3186898 commit 2f74720
Showing 1 changed file with 136 additions and 60 deletions.
196 changes: 136 additions & 60 deletions Tools/autotest/helicopter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@
from pysim import vehicleinfo

import copy
import operator


class AutoTestHelicopter(AutoTestCopter):
Expand Down Expand Up @@ -303,9 +304,12 @@ def SplineWaypoint(self, timeout=600):

def AutoRotation(self, timeout=600):
"""Check engine-out behaviour"""
self.set_parameter("AROT_ENABLE", 1)
start_alt = 100 # metres
self.set_parameter("PILOT_TKOFF_ALT", start_alt * 100)
self.set_parameters({
"AROT_ENABLE": 1,
"H_RSC_AROT_ENBL": 1,
"PILOT_TKOFF_ALT": start_alt * 100,
})
self.change_mode('POSHOLD')
self.set_rc(3, 1000)
self.set_rc(8, 1000)
Expand All @@ -321,13 +325,21 @@ def AutoRotation(self, timeout=600):
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.progress("Triggering autorotate by raising interlock")
self.set_rc(3, 1000)

# Reset collective to enter hover
self.set_rc(3, 1500)

# Change to the autorotation flight mode
self.progress("Triggering autorotate mode")
self.change_mode('AUTOROTATE')
self.delay_sim_time(2)

# Disengage the interlock to remove power
self.set_rc(8, 1000)

# Ensure we have progressed through the mode's state machine
self.wait_statustext("SS Glide Phase", check_context=True)

self.change_mode('STABILIZE')
self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
Expand All @@ -338,68 +350,132 @@ def AutoRotation(self, timeout=600):

def ManAutoRotation(self, timeout=600):
"""Check autorotation power recovery behaviour"""
RAMP_TIME = 4
AROT_RAMP_TIME = 2
start_alt = 100 # metres
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)
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)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1,
(start_alt + 5),
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.change_mode('STABILIZE')
self.progress("Triggering manual autorotation by disabling interlock")
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.wait_servo_channel_value(8, 1199, timeout=3)
self.progress("channel 8 set to autorotation window")
RSC_CHAN = 8

# wait to establish autorotation
self.delay_sim_time(2)
def check_rsc_output(self, throttle, timeout, ramping_up:bool):
# Check we get a sensible throttle output
expected_pwm = int(throttle * 0.01 * 1000 + 1000)

self.set_rc(8, 2000)
self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1)
# Help out the detection by offset the expected by 1 pwm based on the direction we expect the throttle to be ramping
if ramping_up:
expected_pwm -= 1
op = operator.ge
else:
expected_pwm += 1
op = operator.le

# See if the output ramps to a value close to expected with the prescribed time
self.wait_servo_channel_value(RSC_CHAN, expected_pwm, timeout=timeout, comparator=op)

# Ensure we don't subsequently get a throttle value outside expected
self.delay_sim_time(1)
pwm_received = self.get_servo_channel_value(RSC_CHAN)

# Throw exception if out of tolerance
if (abs(expected_pwm - pwm_received) > 3):
# We have not got the throttle we expected
raise NotAchievedException("Wanted RSC output: %i, but got: %i" % (expected_pwm, pwm_received))

def TestAutoRotationConfig(self, arot_ramp_time, arot_idle):
RAMP_TIME = 10
RUNUP_TIME = 15
AROT_RUNUP_TIME = arot_ramp_time + 4
RSC_SETPOINT = 66
runup_time = self.get_parameter("H_RSC_RUNUP_TIME")
crit_rotor_speed_pct = self.get_parameter("H_RSC_CRITICAL")*0.01
start_alt = 100 # metres
self.set_parameters({
"H_RSC_AROT_ENBL": 1,
"H_RSC_AROT_RAMP": arot_ramp_time,
"H_RSC_AROT_RUNUP": AROT_RUNUP_TIME,
"H_RSC_AROT_IDLE": arot_idle,
"H_RSC_RAMP_TIME": RAMP_TIME,
"H_RSC_RUNUP_TIME": RUNUP_TIME,
"H_RSC_IDLE": 0,
"H_RSC_SETPOINT": RSC_SETPOINT,
"PILOT_TKOFF_ALT": start_alt * 100,
})

# give time for engine to power up
self.set_rc(3, 1400)
self.delay_sim_time(2)
# Check the RSC config so we know what to expect on the throttle output
if self.get_parameter("H_RSC_MODE") != 2:
self.set_parameter("H_RSC_MODE", 2)
self.reboot_sitl()

self.progress("in-flight power recovery")
self.set_rc(3, 1500)
self.delay_sim_time(5)
self.change_mode('POSHOLD')
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")
check_rsc_output(self, RSC_SETPOINT, RUNUP_TIME+1, ramping_up=True)

self.delay_sim_time(20)
self.set_rc(3, 2000)
self.wait_altitude(start_alt - 1,
(start_alt + 5),
relative=True,
timeout=timeout)
self.context_collect('STATUSTEXT')
self.change_mode('STABILIZE')

# initiate autorotation again
self.set_rc(3, 1000)
self.set_rc(8, 1000)
self.progress("Triggering manual autorotation by disabling interlock")
self.set_rc(3, 1000)
self.set_rc(8, 1000)

self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")
# Check we are using the autorotation throttle output. This should happen instantly on ramp down.
check_rsc_output(self, arot_idle, 1, ramping_up=False)

self.set_rc(3, 1000)
# verify servo 8 resets to RSC_IDLE after land complete
self.wait_servo_channel_value(8, 1000, timeout=3)
self.wait_disarmed()
self.progress("RSC is outputting correct idle throttle")

# wait to establish autorotation.
self.delay_sim_time(2)

# re-engage interlock to start bailout sequence
self.set_rc(8, 2000)

# Ensure we see the bailout state
self.wait_statustext(r"RSC: Bailing Out", check_context=True)

# Check we are back up to flight throttle. Autorotation ramp up time should be used
check_rsc_output(self, RSC_SETPOINT, arot_ramp_time+1, ramping_up=True)

# give time for engine to power up
self.set_rc(3, 1400)
self.delay_sim_time(2)

self.progress("in-flight power recovery")
self.set_rc(3, 1500)
self.delay_sim_time(5)

# initiate autorotation again
self.set_rc(3, 1000)
self.set_rc(8, 1000)

self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",
check_context=True,
regex=True)
speed = float(self.re_match.group(1))
if speed > 30:
raise NotAchievedException("Hit too hard")

self.set_rc(3, 1000)
# verify servo 8 resets to RSC_IDLE after land complete
check_rsc_output(self, 0, 20, ramping_up=False)
self.wait_disarmed()

# We test the bailout behavior of two different configs
# First we test config with a regular throttle curve
self.progress("testing autorotation with throttle curve config")
ramp_time = 2.0
arot_idle = 0
TestAutoRotationConfig(self, ramp_time, arot_idle)

# Now we test a config that would be used with an ESC with internal governor and an autorotation window
self.progress("testing autorotation with ESC autorotation window config")
ramp_time = 0.0
arot_idle = 20
TestAutoRotationConfig(self, ramp_time, arot_idle)

def mission_item_home(self, target_system, target_component):
'''returns a mission_item_int which can be used as home in a mission'''
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