Copter: autotest suite should test trim and autotrim functionality about ardupilot HOT 8 OPEN

Still the case?

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@davidbuzz or @peterbarker
Is the functionality to test that described in
https://ardupilot.org/copter/docs/autotrim.html and
https://ardupilot.org/rover/docs/savetrim.html, or is there more?

Should it include https://ardupilot.org/plane/docs/auto-trim.html as well?

Thanks - Jim

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@JimStockwell this issue only covers Copter's trim and auto-trim - which is actually a completely different animal to Plane's servo-autotrim. It's also different to Copter's save-steering-trim function!

https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/RC_Channel.cpp#L640 and https://github.com/ardupilot/ardupilot/blob/master/ArduCopter/RC_Channel.cpp#L621 are the functions in question.

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Thank you @peterbarker!

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@peterbarker, in broad outline, do you think an autotest would look something like the following?

Set parameters AHRS_TRIM_X and _Y to something other than zero, check that we don't fly straight and level, simulate auto_trim, then check that we do fly straight and level? Same thing with save_trim?

Thanks for any advice,

• Jim

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@JimStockwell that would seem to cover it.

Usually I'm all for more tests. But I actually think Copter's "auto trim" functionality is a candidate for removal.

@rmackay9 do you think this feature is ever used in practise?

Saving Rover's steering trim ought to be a trivial test - possibly wedge it into "Drive Manual". It's essentially zero cost to test - set the option, fiddle the trim to a known bad value, trigger the option, check the trim is equal to the current servo output. I'd be curious to know what this does on our weirder frames, however - Omni and pivot-steering. That might be an interesting experiment!

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I've used autotrim and I know that people with leaning microcopters do as well

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