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Autotest: Fence is present, but test looking for not present 

Autotest: Remove ties to mavlink FENCE_ACTION

Autotest: Add ArduPlane autotest to test ceiling and floor

Adds a test to ensure the vehicle reverts to RTL when breaching a ceiling or floor.

Autotest: Progress the test once we reach takeoff complete and fence enable

Autotest: Use RC_OPTION for Aux Switch functionality

Autotest: Enable fence last
zr-v5.1
James O'Shannessy 4 years ago committed by Peter Barker
parent
c2abf27d78
commit
1a3e168ced
3 changed files with 102 additions and 9 deletions
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  1. 6
      Tools/autotest/ArduPlane_Tests/FenceAltCeilFloor/CMAC-fence.txt
  2. 10
      Tools/autotest/ArduPlane_Tests/FenceAltCeilFloor/CMAC-mission.txt
  3. 95
      Tools/autotest/arduplane.py

6
Tools/autotest/ArduPlane_Tests/FenceAltCeilFloor/CMAC-fence.txt
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@ -0,0 +1,6 @@ @@ -0,0 +1,6 @@
-35.363720 149.163651
-35.358738 149.165070
-35.359295 149.154434
-35.372292 149.157135
-35.368290 149.166809
-35.358738 149.165070

10
Tools/autotest/ArduPlane_Tests/FenceAltCeilFloor/CMAC-mission.txt
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@ -0,0 +1,10 @@ @@ -0,0 +1,10 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 -35.362938 149.165086 585.090027 1
1 0 3 22 15.000000 0.000000 0.000000 0.000000 0.000000 0.000000 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.359628 149.164405 100.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.360380 149.157558 60.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364289 149.156969 100.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.369329 149.158092 140.000000 1
6 0 0 189 0.000000 0.000000 0.000000 0.000000 -35.369329 149.158092 0.000000 1
7 0 3 31 0.000000 -75.000000 0.000000 1.000000 -35.367154 149.164864 100.000000 1
8 0 3 21 0.000000 0.000000 0.000000 1.000000 -35.363200 149.165233 0.000000 1

95
Tools/autotest/arduplane.py
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@ -967,8 +967,9 @@ class AutoTestPlane(AutoTest): @@ -967,8 +967,9 @@ class AutoTestPlane(AutoTest):
self.load_fence("CMAC-fence.txt")
self.set_parameter("FENCE_CHANNEL", 7)
self.set_parameter("FENCE_ACTION", 4)
self.set_parameter("RC7_OPTION", 11) # AC_Fence uses Aux switch functionality
self.set_parameter("FENCE_ACTION", 4) # Fence action Brake
self.set_parameter("FENCE_ENABLE", 1)
self.wait_sensor_state(mavutil.mavlink.MAV_SYS_STATUS_GEOFENCE,
present=True,
@ -1113,9 +1114,9 @@ class AutoTestPlane(AutoTest): @@ -1113,9 +1114,9 @@ class AutoTestPlane(AutoTest):
if m is not None:
raise NotAchievedException("Got FENCE_STATUS unexpectedly")
self.drain_mav_unparsed()
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE) # report only
self.assert_fence_sys_status(False, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL) # report only
self.set_parameter("FENCE_ACTION", 0) # report only
self.assert_fence_sys_status(True, False, True)
self.set_parameter("FENCE_ACTION", 1) # RTL
self.assert_fence_sys_status(True, False, True)
self.do_fence_enable()
self.assert_fence_sys_status(True, True, True)
@ -1127,9 +1128,9 @@ class AutoTestPlane(AutoTest): @@ -1127,9 +1128,9 @@ class AutoTestPlane(AutoTest):
(m.breach_status))
self.do_fence_disable()
self.assert_fence_sys_status(True, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_NONE)
self.assert_fence_sys_status(False, False, True)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
self.set_parameter("FENCE_ACTION", 1)
self.assert_fence_sys_status(True, False, True)
self.set_parameter("FENCE_ACTION", 0)
self.assert_fence_sys_status(True, False, True)
self.clear_fence()
if self.get_parameter("FENCE_TOTAL") != 0:
@ -1166,7 +1167,7 @@ class AutoTestPlane(AutoTest): @@ -1166,7 +1167,7 @@ class AutoTestPlane(AutoTest):
expected_radius = REALLY_BAD_FUDGE_FACTOR * want_radius
self.set_parameter("RTL_RADIUS", want_radius)
self.set_parameter("NAVL1_LIM_BANK", 60)
self.set_parameter("FENCE_ACTION", mavutil.mavlink.FENCE_ACTION_RTL)
self.set_parameter("FENCE_ACTION", 1) # AC_FENCE_ACTION_RTL_AND_LAND == 1. mavutil.mavlink.FENCE_ACTION_RTL == 4
self.do_fence_enable()
self.assert_fence_sys_status(True, True, True)
@ -2331,6 +2332,78 @@ class AutoTestPlane(AutoTest): @@ -2331,6 +2332,78 @@ class AutoTestPlane(AutoTest):
if ex is not None:
raise ex
def test_fence_alt_ceil_floor(self):
ex = None
target_system = 1
target_component = 1
try:
self.progress("Testing Fence Enable")
# Load Fence
self.load_fence("CMAC-fence.txt")
if self.get_parameter("FENCE_TOTAL") == 0:
raise NotAchievedException("Expected fence to be present")
# Load Mission
self.load_mission("CMAC-mission.txt")
# Set up fence parameters
self.set_parameter("FENCE_AUTOENABLE", 1) # Enable/Disable on Takeoff/Landing
self.set_parameter("FENCE_ACTION", 1) # RTL
self.set_parameter("FENCE_TYPE", 13) # Set Fence Type to Alt Max/Min and Polygon
self.set_parameter("FENCE_ALT_MIN", 80)
self.set_parameter("FENCE_ALT_MAX", 120)
# Now we can arm the vehicle and kick off the flight
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode("AUTO")
# On takeoff complete, check fence is enabled
self.progress("Looking for takeoff complete")
self.mavproxy.expect("APM: Takeoff complete at [0-9]+\.[0-9]+m")
#self.progress("Looking for fence enable")
#self.mavproxy.expect("fence enabled")
# Fly until we breach fence floor where we enter RTL
self.progress("Looking for fence breach")
self.mavproxy.expect("fence breach")
# As we RTL, we should re-enter fence zone. Wait until we're inside
self.progress("Waiting for return to altitude")
self.wait_altitude(altitude_min=100, altitude_max=110, timeout=30, relative=True)
# Skip the waypoint outside fence, continue mission
self.progress("Skipping to next waypoint")
self.mav.waypoint_set_current_send(4)
self.change_mode("AUTO")
self.drain_mav()
# Fly until we breach fence ceiling where we enter RTL
self.mavproxy.expect("fence breach")
# As we RTL, we should re-enter fence zone. Wait until we're inside
self.wait_altitude(altitude_min=100, altitude_max=110, timeout=60, relative=True)
# Skip the waypoint outside fence, continue mission
self.progress("Skipping to next waypoint")
self.mav.waypoint_set_current_send(6)
self.change_mode("AUTO")
self.drain_mav()
# Continue through to landing sequence, which disables the fence
self.progress("Continuing mission to land")
self.mavproxy.expect("APM: Fence disabled \(auto disable\)")
# Once landed, wait till disarmed
self.wait_disarmed(timeout=120)
except Exception as e:
self.progress("Exception caught:")
self.progress(self.get_exception_stacktrace(e))
ex = e
if ex is not None:
raise ex
def tests(self):
'''return list of all tests'''
ret = super(AutoTestPlane, self).tests()
@ -2400,6 +2473,10 @@ class AutoTestPlane(AutoTest): @@ -2400,6 +2473,10 @@ class AutoTestPlane(AutoTest):
"Test Fence RTL Rally",
self.test_fence_rtl_rally),
("FenceAltCeilFloor",
"Tests the fence ceiling and floor",
self.test_fence_alt_ceil_floor),
("ADSB",
"Test ADSB",
self.test_adsb),

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