Tools: update autotest to work with heli SITL model changes

bnsgeyer · Dec 15, 2023 · 2b458fb · 2b458fb
1 parent 5c593f3
commit 2b458fb
Show file tree

Hide file tree

Showing 3 changed files with 15 additions and 8 deletions.
diff --git a/Tools/autotest/default_params/copter-heli-dual.parm b/Tools/autotest/default_params/copter-heli-dual.parm
@@ -1,9 +1,9 @@
 FRAME_CLASS 11
 ATC_ANG_PIT_P 4.5
 ATC_ANG_YAW_P 4.5
-ATC_RAT_PIT_D    0.0012
-ATC_RAT_PIT_P    0.001
-ATC_RAT_PIT_FF   0.17
+ATC_RAT_PIT_D    0.0005
+ATC_RAT_PIT_P    0.02
+ATC_RAT_PIT_FF   0.0
 ATC_RAT_YAW_D    0.0015
 ATC_RAT_YAW_P    0.14685
 ATC_HOVR_ROL_TRM 0

diff --git a/Tools/autotest/default_params/copter-heli.parm b/Tools/autotest/default_params/copter-heli.parm
@@ -70,7 +70,7 @@ ATC_ACCEL_Y_MAX 60000
 ATC_HOVR_ROL_TRM 320
 H_COL_MAX 1740
 H_COL_MIN 1460
-H_COL_ANG_MAX 10
+H_COL_ANG_MAX 12
 H_COL_ANG_MIN -2
 H_RSC_MODE 2
 H_RSC_SETPOINT 66

diff --git a/Tools/autotest/helicopter.py b/Tools/autotest/helicopter.py
@@ -303,7 +303,7 @@ def StabilizeTakeOff(self):
             if abs(m.relative_alt) > 100:
                 raise NotAchievedException("Took off prematurely")
             self.progress("Pushing throttle past half-way")
-            self.set_rc(3, 1600)
+            self.set_rc(3, 1650)
 
             self.progress("Monitoring takeoff")
             self.wait_altitude(6.9, 8, relative=True)
@@ -401,20 +401,27 @@ def ManAutoRotation(self, timeout=600):
         self.context_collect('STATUSTEXT')
         self.change_mode('STABILIZE')
         self.progress("Triggering manual autorotation by disabling interlock")
-        self.set_rc(3, 1300)
+        self.set_rc(3, 1000)
         self.set_rc(8, 1000)
         self.wait_servo_channel_value(8, 1200, timeout=3)
         self.progress("channel 8 set to autorotation window")
 
+        # wait to establish autorotation
+        self.delay_sim_time(2)
+
         self.set_rc(8, 2000)
         self.wait_servo_channel_value(8, 1659, timeout=AROT_RAMP_TIME * 1.1)
 
+        # 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, 1700)
+        self.set_rc(3, 1500)
         self.delay_sim_time(5)
 
         # initiate autorotation again
-        self.set_rc(3, 1200)
+        self.set_rc(3, 1000)
         self.set_rc(8, 1000)
 
         self.wait_statustext(r"SIM Hit ground at ([0-9.]+) m/s",