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AP_Motors: example: support setting and testing DUAL_MODE
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@IamPete1 @tridge
IamPete1 authored and tridge committed Nov 13, 2023
1 parent aa8c477 commit 5524244
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Showing 2 changed files with 138 additions and 98 deletions.
9 changes: 9 additions & 0 deletions libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,15 @@ void setup()
exit(1);
}

} else if (strcmp(cmd,"dual_mode") == 0) {
if (frame_class != AP_Motors::MOTOR_FRAME_HELI_DUAL) {
::printf("dual_mode only supported by dual heli frame type (%i), got %i\n", AP_Motors::MOTOR_FRAME_HELI_DUAL, frame_class);
exit(1);
}

// look away now, more dodgy param access.
AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
dual_mode->set(value);

} else if (strcmp(cmd,"frame_class") == 0) {
// We must have the frame_class argument 2nd as resulting class is used to determine if
Expand Down
227 changes: 129 additions & 98 deletions libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,9 +96,12 @@ def get_fields(self):
4: 'H4_90',
5: 'H4_45'}

dual_mode_lookup = {0: 'Longitudinal',
1: 'Transverse',
2: 'Intermeshing_or_Coaxial'}

# Run sweep over range of types
def run_sweep(frame_class, swash_type, dir_name):
def run_sweep(frame_class, swash_type, dual_mode, dir_name):

# configure and build the test
os.system('./waf configure --board linux')
Expand All @@ -107,19 +110,29 @@ def run_sweep(frame_class, swash_type, dir_name):
# Run sweep
for fc in frame_class:
for swash in swash_type:
if swash is not None:
name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
swash_cmd = 'swash=%d' % swash
for mode in dual_mode:
if swash is not None:
swash_cmd = 'swash=%d' % swash

else:
name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
swash_cmd = ''
if mode is not None:
name = 'frame class = %s (%i), swash = %s (%i), dual mode = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, dual_mode_lookup[mode], mode)
filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], dual_mode_lookup[mode])
mode_cmd = 'dual_mode=%d' % mode

print('Running motors test for %s' % name)
os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s > %s/%s' % (fc, swash_cmd, dir_name, filename))
print('%s complete\n' % name)
else:
name = 'frame class = %s (%i), swash = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash)
filename = '%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash])
mode_cmd = ''

else:
name = 'frame class = %s (%i)' % (frame_class_lookup[fc], fc)
filename = '%s_motor_test.csv' % (frame_class_lookup[fc])
swash_cmd = ''
mode_cmd = ''

print('Running motors test for %s' % name)
os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, mode_cmd, dir_name, filename))
print('%s complete\n' % name)


if __name__ == '__main__':
Expand All @@ -135,6 +148,7 @@ def run_sweep(frame_class, swash_type, dir_name):
parser.add_argument("-s", "--swash-type", type=int, dest='swash_type', nargs="+", help="list of swashplate types to run comparison on. Defaults to test all types. Invalid for heli quad")
parser.add_argument("-c", "--compare", action='store_true', help='Compare only, do not re-run tests')
parser.add_argument("-p", "--plot", action='store_true', help='Plot comparison results')
parser.add_argument("-m", "--dual_mode", type=int, dest='dual_mode', help='Set DUAL_MODE, 0:Longitudinal, 1:Transverse, 2:Intermeshing/Coaxial, default:run all')
args = parser.parse_args()

if 13 in args.frame_class:
Expand All @@ -147,6 +161,16 @@ def run_sweep(frame_class, swash_type, dir_name):
if not args.swash_type:
args.swash_type = (0, 1, 2, 3, 4, 5)

if (args.frame_class != [11]) and (args.dual_mode is not None):
print('Only Frame %s (%i) supports dual_mode' % (frame_class_lookup[11], 11))
quit()

if args.frame_class == [11]:
if args.dual_mode is None:
args.dual_mode = (0, 1, 2)
else:
args.dual_mode = [None]

dir_name = 'motors_comparison'

if not args.compare:
Expand All @@ -161,7 +185,7 @@ def run_sweep(frame_class, swash_type, dir_name):
print('\nRunning motor tests with current changes\n')

# run the test
run_sweep(args.frame_class, args.swash_type, new_name)
run_sweep(args.frame_class, args.swash_type, args.dual_mode, new_name)

if args.head:
# rewind head and repeat test
Expand Down Expand Up @@ -213,91 +237,98 @@ def run_sweep(frame_class, swash_type, dir_name):
# Print comparison
for fc in args.frame_class:
for sw in args.swash_type:
frame = frame_class_lookup[fc]
if sw is not None:
swash = swash_type_lookup[sw]
name = frame + ' ' + swash
filename = '%s_%s_motor_test.csv' % (frame, swash)

else:
name = frame
filename = '%s_motor_test.csv' % (frame)

print('%s:' % name)

new_points = DataPoints(os.path.join(dir_name, 'new/%s' % filename))
old_points = DataPoints(os.path.join(dir_name, 'original/%s' % filename))

if new_points.init_failed:
print('\t failed!\n')

print('\tInputs max change:')
INPUTS = ['Roll', 'Pitch', 'Yaw', 'Thr']
input_diff = {}
for field in INPUTS:
input_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, input_diff[field]))))

# Find number of motors
num_motors = 0
while True:
num_motors += 1
if 'Mot%i' % (num_motors+1) not in new_points.get_fields():
break

print('\tOutputs max change:')
output_diff = {}
for i in range(num_motors):
field = 'Mot%i' % (i+1)
output_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, output_diff[field]))))

print('\tLimits max change:')
LIMITS = ['LimR', 'LimP', 'LimY', 'LimThD', 'LimThU']
limit_diff = {}
for field in LIMITS:
limit_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, limit_diff[field]))))
print('\n')

if not args.plot:
continue

# Plot comparison
fig_size = (16, 8)
fig, ax = plt.subplots(2, 2, figsize=fig_size)
fig.suptitle('%s Input Diff' % name, fontsize=16)
ax = ax.flatten()
for i, field in enumerate(INPUTS):
ax[i].plot(input_diff[field], color=RED)
ax[i].set_xlabel('Test Number')
ax[i].set_ylabel('%s Old - New' % field)
plt.tight_layout(rect=[0, 0.0, 1, 0.95])

fig, ax = plt.subplots(2, num_motors, figsize=fig_size)
fig.suptitle('%s Outputs' % name, fontsize=16)
for i in range(num_motors):
field = 'Mot%i' % (i+1)
ax[0, i].plot(old_points.data[field], color=RED)
ax[0, i].plot(new_points.data[field], color=BLUE)
ax[0, i].set_ylabel(field)
ax[0, i].set_xlabel('Test No')
ax[1, i].plot(output_diff[field], color=BLACK)
ax[1, i].set_ylabel('Change in %s' % field)
ax[1, i].set_xlabel('Test No')
plt.tight_layout(rect=[0, 0.0, 1, 0.95])

fig, ax = plt.subplots(2, 5, figsize=fig_size)
fig.suptitle(name + ' Limits', fontsize=16)
for i, field in enumerate(LIMITS):
ax[0, i].plot(old_points.data[field], color=RED)
ax[0, i].plot(new_points.data[field], color=BLUE)
ax[0, i].set_ylabel(field)
ax[0, i].set_xlabel('Test No')
ax[1, i].plot(limit_diff[field], color=BLACK)
ax[1, i].set_ylabel('Change in %s' % field)
ax[1, i].set_xlabel('Test No')
plt.tight_layout(rect=[0, 0.0, 1, 0.95])
for dm in args.dual_mode:
frame = frame_class_lookup[fc]
if sw is not None:
swash = swash_type_lookup[sw]
if dm is not None:
mode = dual_mode_lookup[dm]
name = frame + ' ' + swash + ' ' + mode
filename = '%s_%s_%s_motor_test.csv' % (frame, swash, mode)

else:
name = frame + ' ' + swash
filename = '%s_%s_motor_test.csv' % (frame, swash)

else:
name = frame
filename = '%s_motor_test.csv' % (frame)

print('%s:' % name)

new_points = DataPoints(os.path.join(dir_name, 'new/%s' % filename))
old_points = DataPoints(os.path.join(dir_name, 'original/%s' % filename))

if new_points.init_failed:
print('\t failed!\n')

print('\tInputs max change:')
INPUTS = ['Roll', 'Pitch', 'Yaw', 'Thr']
input_diff = {}
for field in INPUTS:
input_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, input_diff[field]))))

# Find number of motors
num_motors = 0
while True:
num_motors += 1
if 'Mot%i' % (num_motors+1) not in new_points.get_fields():
break

print('\tOutputs max change:')
output_diff = {}
for i in range(num_motors):
field = 'Mot%i' % (i+1)
output_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, output_diff[field]))))

print('\tLimits max change:')
LIMITS = ['LimR', 'LimP', 'LimY', 'LimThD', 'LimThU']
limit_diff = {}
for field in LIMITS:
limit_diff[field] = [i-j for i, j in zip(old_points.data[field], new_points.data[field])]
print('\t\t%s: %f' % (field, max(map(abs, limit_diff[field]))))
print('\n')

if not args.plot:
continue

# Plot comparison
fig_size = (16, 8)
fig, ax = plt.subplots(2, 2, figsize=fig_size)
fig.suptitle('%s Input Diff' % name, fontsize=16)
ax = ax.flatten()
for i, field in enumerate(INPUTS):
ax[i].plot(input_diff[field], color=RED)
ax[i].set_xlabel('Test Number')
ax[i].set_ylabel('%s Old - New' % field)
plt.tight_layout(rect=[0, 0.0, 1, 0.95])

fig, ax = plt.subplots(2, num_motors, figsize=fig_size)
fig.suptitle('%s Outputs' % name, fontsize=16)
for i in range(num_motors):
field = 'Mot%i' % (i+1)
ax[0, i].plot(old_points.data[field], color=RED)
ax[0, i].plot(new_points.data[field], color=BLUE)
ax[0, i].set_ylabel(field)
ax[0, i].set_xlabel('Test No')
ax[1, i].plot(output_diff[field], color=BLACK)
ax[1, i].set_ylabel('Change in %s' % field)
ax[1, i].set_xlabel('Test No')
plt.tight_layout(rect=[0, 0.0, 1, 0.95])

fig, ax = plt.subplots(2, 5, figsize=fig_size)
fig.suptitle(name + ' Limits', fontsize=16)
for i, field in enumerate(LIMITS):
ax[0, i].plot(old_points.data[field], color=RED)
ax[0, i].plot(new_points.data[field], color=BLUE)
ax[0, i].set_ylabel(field)
ax[0, i].set_xlabel('Test No')
ax[1, i].plot(limit_diff[field], color=BLACK)
ax[1, i].set_ylabel('Change in %s' % field)
ax[1, i].set_xlabel('Test No')
plt.tight_layout(rect=[0, 0.0, 1, 0.95])

if args.plot:
plt.show()

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