Tools: add a --speedup parameter to autotest to control speed of all sims

Tools/autotest/apmrover2.py

@@ -100,7 +100,7 @@ def drive_mission(mavproxy, mav, filename):
 
 vinfo = vehicleinfo.VehicleInfo()
 
-def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
+def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
     """Drive APMrover2 in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -118,7 +118,7 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
         options += ' --map'
 
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=10)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
     mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
 
     print("WAITING FOR PARAMETERS")
@@ -140,7 +140,7 @@ def drive_APMrover2(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fa
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='rover', home=home, speedup=10, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
+    sitl = util.start_SITL(binary, model='rover', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     mavproxy = util.start_MAVProxy_SITL('APMrover2', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/arducopter.py

@@ -29,7 +29,6 @@ AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
 
 homeloc = None
 num_wp = 0
-speedup_default = 10
 
 
 def wait_ready_to_arm(mavproxy):
@@ -972,7 +971,7 @@ def setup_rc(mavproxy):
     mavproxy.send('rc 3 1000\n')
 
 
-def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
+def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
     """Fly ArduCopter in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -984,7 +983,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
         frame = '+'
 
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
     mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
     mavproxy.expect('Received [0-9]+ parameters')
 
@@ -1004,7 +1003,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
+    sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip
@@ -1329,7 +1328,7 @@ def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fal
     return True
 
 
-def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False):
+def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
     """Fly ArduCopter in SITL for AVC2013 mission."""
     global homeloc
 
@@ -1337,7 +1336,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
         frame = 'heli'
 
     home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
-    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup_default)
+    sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
     mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
     mavproxy.expect('Received [0-9]+ parameters')
 
@@ -1357,7 +1356,7 @@ def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup_default, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
+    sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
     if viewerip:
         options += ' --out=%s:14550' % viewerip

Tools/autotest/arduplane.py

@@ -440,7 +440,7 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
     return True
 
 
-def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
+def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False, speedup=10):
     """Fly ArduPlane in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -454,7 +454,7 @@ def fly_ArduPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
     if use_map:
         options += ' --map'
 
-    sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=10,
+    sitl = util.start_SITL(binary, model='plane-elevrev', home=HOME_LOCATION, speedup=speedup,
                           valgrind=valgrind, gdb=gdb, gdbserver=gdbserver,
                           defaults_file=os.path.join(testdir, 'default_params/plane-jsbsim.parm'))
     mavproxy = util.start_MAVProxy_SITL('ArduPlane', options=options)

Tools/autotest/ardusub.py

@@ -92,7 +92,7 @@ def dive_mission(mavproxy, mav, filename):
     print("Mission OK")
     return True
 
-def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
+def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False, speedup=10):
     """Dive ArduSub in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -105,7 +105,7 @@ def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False
         options += ' --map'
 
     home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
-    sitl = util.start_SITL(binary, model='vectored', wipe=True, home=home, speedup=10)
+    sitl = util.start_SITL(binary, model='vectored', wipe=True, home=home, speedup=speedup)
     mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
     mavproxy.expect('Received [0-9]+ parameters')
 
@@ -121,7 +121,7 @@ def dive_ArduSub(binary, viewerip=None, use_map=False, valgrind=False, gdb=False
     util.pexpect_close(mavproxy)
     util.pexpect_close(sitl)
 
-    sitl = util.start_SITL(binary, model='vectored', home=home, speedup=10, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
+    sitl = util.start_SITL(binary, model='vectored', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     mavproxy = util.start_MAVProxy_SITL('ArduSub', options=options)
     mavproxy.expect('Telemetry log: (\S+)')
     logfile = mavproxy.match.group(1)

Tools/autotest/autotest.py

@@ -222,23 +222,33 @@ def run_step(step):
         vehicle = step[8:]
         return get_default_params(vehicle, binary)
 
+    fly_opts = {
+        "viewerip": opts.viewerip,
+        "use_map": opts.map,
+        "valgrind": opts.valgrind,
+        "gdb": opts.gdb,
+        "gdbserver": opts.gdbserver,
+    }
+    if opts.speedup is not None:
+        fly_opts.speedup = opts.speedup
+
     if step == 'fly.ArduCopter':
-        return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
+        return arducopter.fly_ArduCopter(binary, frame=opts.frame, **fly_opts)
 
     if step == 'fly.CopterAVC':
-        return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
+        return arducopter.fly_CopterAVC(binary, **fly_opts)
 
     if step == 'fly.ArduPlane':
-        return arduplane.fly_ArduPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
+        return arduplane.fly_ArduPlane(binary, **fly_opts)
 
     if step == 'fly.QuadPlane':
-        return quadplane.fly_QuadPlane(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
+        return quadplane.fly_QuadPlane(binary, **fly_opts)
 
     if step == 'drive.APMrover2':
-        return apmrover2.drive_APMrover2(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, frame=opts.frame, gdbserver=opts.gdbserver)
+        return apmrover2.drive_APMrover2(binary, frame=opts.frame, **fly_opts)
 
     if step == 'dive.ArduSub':
-        return ardusub.dive_ArduSub(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb, gdbserver=opts.gdbserver)
+        return ardusub.dive_ArduSub(binary, **fly_opts)
 
     if step == 'build.All':
         return build_all()
@@ -435,6 +445,7 @@ if __name__ == "__main__":
     parser.add_option("--map", action='store_true', default=False, help='show map')
     parser.add_option("--experimental", default=False, action='store_true', help='enable experimental tests')
     parser.add_option("--timeout", default=3000, type='int', help='maximum runtime in seconds')
+    parser.add_option("--speedup", default=None, type='int', help='speedup to run the simulations at')
     parser.add_option("--valgrind", default=False, action='store_true', help='run ArduPilot binaries under valgrind')
     parser.add_option("--gdb", default=False, action='store_true', help='run ArduPilot binaries under gdb')
     parser.add_option("--debug", default=False, action='store_true', help='make built binaries debug binaries')

Tools/autotest/quadplane.py

@@ -44,7 +44,7 @@ def fly_mission(mavproxy, mav, filename, fence, height_accuracy=-1):
     return True
 
 
-def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False):
+def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, gdbserver=False, speedup=10):
     """Fly QuadPlane in SITL.
 
     you can pass viewerip as an IP address to optionally send fg and
@@ -58,7 +58,7 @@ def fly_QuadPlane(binary, viewerip=None, use_map=False, valgrind=False, gdb=Fals
     if use_map:
         options += ' --map'
 
-    sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=10,
+    sitl = util.start_SITL(binary, model='quadplane', wipe=True, home=HOME_LOCATION, speedup=speedup,
                           defaults_file=os.path.join(testdir, 'default_params/quadplane.parm'), valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
     mavproxy = util.start_MAVProxy_SITL('QuadPlane', options=options)
     mavproxy.expect('Telemetry log: (\S+)')