Skip to content

Commit

Permalink
AP_Motors: Example: allow testing of heli tail type
Browse files Browse the repository at this point in the history
  • Loading branch information
@IamPete1
IamPete1 committed Dec 9, 2023
1 parent 0ad399b commit 6d51238
Show file tree
Hide file tree
Showing 2 changed files with 78 additions and 17 deletions.
33 changes: 31 additions & 2 deletions libraries/AP_Motors/examples/AP_Motors_test/AP_Motors_test.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -130,6 +130,30 @@ void setup()
AP_Int8 *dual_mode = (AP_Int8*)motors + AP_MotorsHeli_Dual::var_info[1].offset;
dual_mode->set(value);

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

// Union allows pointers to be aligned despite different sizes
// avoids "increases required alignment of target type" error when casting from char* to AP_Int16*
union {
char *char_ptr;
AP_Int16 *int16;
} tail_type;

// look away now, more dodgy param access.
tail_type.char_ptr = (char*)motors + AP_MotorsHeli_Single::var_info[1].offset;
tail_type.int16->set(value);

// Re-init motors to switch to the new tail type
// Have to do this twice to make sure the tail type sticks
motors->set_initialised_ok(false);
motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);
motors->set_initialised_ok(false);
motors->init(frame_class, AP_Motors::MOTOR_FRAME_TYPE_X);

} else if (strcmp(cmd,"frame_class") == 0) {
// We must have the frame_class argument 2nd as resulting class is used to determine if
// we have access to certain functions in the multicopter motors child class
Expand All @@ -152,8 +176,13 @@ void setup()

case AP_Motors::MOTOR_FRAME_HELI:
motors = new AP_MotorsHeli_Single(400);
// Mot 1-3 swashplate, mot 4 tail rotor pitch, mot 5 for 4th servo in H4-90 swash
num_outputs = 5;
// Mot 1-3: Swash plate 1 to 3
// Mot 4: Tail rotor
// Mot 5: 4th servo in H4-90 swash
// Mot 6: Unused
// Mot 7: Tail rotor RSC / external governor output
// Mot 8: Main rotor RSC
num_outputs = 8;
break;

case AP_Motors::MOTOR_FRAME_HELI_DUAL:
Expand Down
62 changes: 47 additions & 15 deletions libraries/AP_Motors/examples/AP_Motors_test/run_heli_comparison.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -100,8 +100,15 @@ def get_fields(self):
1: 'Transverse',
2: 'Intermeshing_or_Coaxial'}

tail_type_lookup = {0: 'Servo_only',
1: 'Servo_with_ExtGyro',
2: 'DirectDrive_VarPitch',
3: 'DirectDrive_FixedPitch_CW',
4: 'DirectDrive_FixedPitch_CCW',
5: 'DDVP_with_external_governor'}

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

# configure and build the test
os.system('./waf configure --board linux')
Expand All @@ -110,28 +117,28 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
# Run sweep
for fc in frame_class:
for swash in swash_type:
for mode in dual_mode:
for sec in secondary_iter:
if swash is not None:
swash_cmd = 'swash=%d' % swash

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
if sec is not None:
name = 'frame class = %s (%i), swash = %s (%i), %s = %s (%i)' % (frame_class_lookup[fc], fc, swash_type_lookup[swash], swash, secondary_name.replace('_', ' '), secondary_lookup[sec], sec)
filename = '%s_%s_%s_motor_test.csv' % (frame_class_lookup[fc], swash_type_lookup[swash], secondary_lookup[sec])
sec_cmd = '%s=%d' % (secondary_name, sec)

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 = ''
sec_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 = ''
sec_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))
os.system('./build/linux/examples/AP_Motors_test s frame_class=%d %s %s > %s/%s' % (fc, swash_cmd, sec_cmd, dir_name, filename))
print('%s complete\n' % name)


Expand All @@ -149,6 +156,7 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
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')
parser.add_argument("-t", "--tail_type", type=int, dest='tail_type', help='Set TAIL_TYPE, 0:Servo Only, 1:Servo with ExtGyro, 2:DirectDrive VarPitch, 3:DirectDrive FixedPitch CW, 4:DirectDrive FixedPitch CCW, 5:DDVP with external governor, default:run all')
args = parser.parse_args()

if 13 in args.frame_class:
Expand All @@ -171,6 +179,30 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
else:
args.dual_mode = [None]

if (args.frame_class != [6]) and (args.tail_type is not None):
print('Only Frame %s (%i) supports tail_type' % (frame_class_lookup[6], 6))
quit()

if args.frame_class == [6]:
if args.tail_type is None:
args.tail_type = (0, 1, 2, 3, 4, 5)
else:
args.tail_type = [None]

# Secondary iterator, tail type for single heli and dual mode for dual heli
secondary_iter = [None]
secondary_lookup = None
secondary_name = None
if args.dual_mode != [None]:
secondary_iter = args.dual_mode
secondary_lookup = dual_mode_lookup
secondary_name = 'dual_mode'

elif args.tail_type != [None]:
secondary_iter = args.tail_type
secondary_lookup = tail_type_lookup
secondary_name = 'tail_type'

dir_name = 'motors_comparison'

if not args.compare:
Expand All @@ -185,7 +217,7 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
print('\nRunning motor tests with current changes\n')

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

if args.head:
# rewind head and repeat test
Expand Down Expand Up @@ -237,14 +269,14 @@ def run_sweep(frame_class, swash_type, dual_mode, dir_name):
# Print comparison
for fc in args.frame_class:
for sw in args.swash_type:
for dm in args.dual_mode:
for sec in secondary_iter:
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)
if sec is not None:
sec_str = secondary_lookup[sec]
name = frame + ' ' + swash + ' ' + sec_str
filename = '%s_%s_%s_motor_test.csv' % (frame, swash, sec_str)

else:
name = frame + ' ' + swash
Expand Down

0 comments on commit 6d51238

Please sign in to comment.