Tools: improved quadplane tuning

and shorten GyroFFT log msgs so values can be seen in log

Tools/autotest/default_params/quadplane.parm

@@ -68,4 +68,8 @@ SCHED_LOOP_RATE  300
 THR_MAX          100
 TRIM_ARSPD_CM    2500
 LOG_BITMASK      65534
-
+Q_M_THST_EXPO    0.65
+Q_M_PWM_MIN      1000
+Q_M_PWM_MAX      2000
+Q_M_BAT_VOLT_MAX 12.8
+Q_M_BAT_VOLT_MIN 9.6

Tools/autotest/quadplane.py

@@ -411,9 +411,9 @@ class AutoTestQuadPlane(AutoTest):
         freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
         peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
         if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
-            raise NotAchievedException("Did not detect a motor peak, found %fHz at %fdB" % (freq, peakdb))
+            raise NotAchievedException("No motor peak, found %fHz at %fdB" % (freq, peakdb))
         else:
-            self.progress("Detected motor peak at %fHz, throttle %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
+            self.progress("motor peak %fHz, thr %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
 
         # we have a peak make sure that the FFT detected something close
         # logging is at 10Hz
@@ -512,10 +512,11 @@ class AutoTestQuadPlane(AutoTest):
             self.do_RTL()
             psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
             freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
-            if numpy.amax(psd["X"][ignore_bins:]) < -10:
-                self.progress("Did not detect a motor peak, found %f at %f dB" % (freq, numpy.amax(psd["X"][ignore_bins:])))
+            peakdB = numpy.amax(psd["X"][ignore_bins:])
+            if peakdB < -10:
+                self.progress("No motor peak, %f at %f dB" % (freq, peakdB))
             else:
-                raise NotAchievedException("Detected motor peak at %f Hz" % (freq))
+                raise NotAchievedException("Detected peak at %f Hz of %.2f dB" % (freq, peakdB))
 
             # Step 4: take off as a copter land as a plane, make sure we track
             self.progress("Flying with gyro FFT - vtol to plane")