zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

Tools: update path for rover test missions files

zr-v5.1
Pierre Kancir 5 years ago committed by Peter Barker
parent
bcd15bc6e4
commit
4eceef1cef
16 changed files with 135 additions and 6 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 6
      Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt
  2. 0
      Tools/autotest/ArduRover_Tests/ArmFeatures/test_arming.txt
  3. 7
      Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt
  4. 20
      Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt
  5. 21
      Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt
  6. 0
      Tools/autotest/ArduRover_Tests/DriveRTL/rtl.txt
  7. 6
      Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt
  8. 6
      Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt
  9. 7
      Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt
  10. 25
      Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt
  11. 4
      Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt
  12. 11
      Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt
  13. 11
      Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt
  14. 4
      Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt
  15. 2
      Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt
  16. 11
      Tools/autotest/apmrover2.py

6
Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt
Unescape View File

@ -0,0 +1,6 @@ @@ -0,0 +1,6 @@
40.071308 -105.229759
40.071434 -105.229958
40.071224 -105.229935
40.071228 -105.229546
40.071449 -105.229530
40.071434 -105.229958

0
Tools/autotest/ArduRover-Missions/test_arming.txt → Tools/autotest/ArduRover_Tests/ArmFeatures/test_arming.txt
Unescape View File

7
Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt
Unescape View File

@ -0,0 +1,7 @@ @@ -0,0 +1,7 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 -0.110000 1
1 0 0 206 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071968 -105.229782 0.000000 1
3 0 0 206 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.072365 -105.229774 0.000000 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 40.072872 -105.229752 0.000000 1

20
Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt
Unescape View File

@ -0,0 +1,20 @@ @@ -0,0 +1,20 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071289 -105.230057 11085.900391 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071186 -105.230064 9502.200195 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071083 -105.230026 11085.900391 1
3 0 3 178 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071011 -105.230003 11085.900391 1
5 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070999 -105.229919 11085.900391 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1
9 0 3 178 0.000000 0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1
11 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1
12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1
13 0 3 178 0.000000 1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1
16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1
17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1
18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1

21
Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt
Unescape View File

@ -0,0 +1,21 @@ @@ -0,0 +1,21 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 1583.699951 1
1 0 3 178 0.000000 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071289 -105.230057 11085.900391 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071186 -105.230064 9502.200195 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071083 -105.230026 11085.900391 1
5 0 3 178 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071011 -105.230003 11085.900391 1
7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070999 -105.229919 11085.900391 1
8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1
9 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1
10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1
11 0 3 178 0.000000 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1
13 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1
14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1
15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1
16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1
17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1
18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1
19 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1

0
Tools/autotest/ArduRover-Missions/rtl.txt → Tools/autotest/ArduRover_Tests/DriveRTL/rtl.txt
Unescape View File

6
Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt
Unescape View File

@ -0,0 +1,6 @@ @@ -0,0 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1
2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1
4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

6
Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt
Unescape View File

@ -0,0 +1,6 @@ @@ -0,0 +1,6 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1
2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1
4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

7
Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt
Unescape View File

@ -0,0 +1,7 @@ @@ -0,0 +1,7 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1
2 0 0 222 10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
3 0 0 92 1.000000 0.000000 0.000000 0.000000 39.000000 104.000000 0.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1
5 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

25
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt
Unescape View File

@ -0,0 +1,25 @@ @@ -0,0 +1,25 @@
QGC WPL 110
0 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071613 -105.230118 0.000000 0
1 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071644 -105.229393 0.000000 0
2 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071106 -105.229393 0.000000 0
3 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071747 -105.228668 0.000000 0
4 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072220 -105.228775 0.000000 0
5 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072357 -105.229729 0.000000 0
6 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072777 -105.229988 0.000000 0
7 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073181 -105.228897 0.000000 0
8 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072914 -105.228073 0.000000 0
9 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073387 -105.228180 0.000000 0
10 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073635 -105.229431 0.000000 0
11 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073967 -105.229301 0.000000 0
12 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073891 -105.227478 0.000000 0
13 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072697 -105.227440 0.000000 0
14 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072430 -105.227898 0.000000 0
15 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071880 -105.227196 0.000000 0
16 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071407 -105.227730 0.000000 0
17 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070194 -105.227249 0.000000 0
18 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070175 -105.230110 0.000000 0
19 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071922 -105.228676 0.000000 0
20 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071712 -105.228172 0.000000 0
21 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071560 -105.228676 0.000000 0
22 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071739 -105.228920 0.000000 0
23 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.072430 -105.228004 0.000000 0

4
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt
Unescape View File

@ -0,0 +1,4 @@ @@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.073799 -105.229156 100.000000 1
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

11
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt
Unescape View File

@ -0,0 +1,11 @@ @@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0
1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0
2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0
3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0
4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0
5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0
6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0
7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0
8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0
9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0

11
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt
Unescape View File

@ -0,0 +1,11 @@ @@ -0,0 +1,11 @@
QGC WPL 110
0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0
1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0
2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0
3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0
4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0
5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0
6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0
7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0
8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0
9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0

4
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt
Unescape View File

@ -0,0 +1,4 @@ @@ -0,0 +1,4 @@
QGC WPL 110
0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071260 -105.227000 100.000000 1
2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1

2
Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt
Unescape View File

@ -0,0 +1,2 @@ @@ -0,0 +1,2 @@
RALLY 40.071553 -105.229401 0.000000 40.000000 0.000000 0
RALLY 40.072265 -105.231136 0.000000 40.000000 0.000000 0

11
Tools/autotest/apmrover2.py
Unescape View File

@ -55,6 +55,9 @@ class AutoTestRover(AutoTest): @@ -55,6 +55,9 @@ class AutoTestRover(AutoTest):
def test_filepath(self):
return os.path.realpath(__file__)
def set_current_test_name(self, name):
self.current_test_name_directory = "ArduRover_Tests/" + name + "/"
def sitl_start_location(self):
return SITL_START_LOCATION
@ -67,9 +70,6 @@ class AutoTestRover(AutoTest): @@ -67,9 +70,6 @@ class AutoTestRover(AutoTest):
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_ROLL"))
def arming_test_mission(self):
return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt")
##########################################################
# TESTS DRIVE
##########################################################
@ -135,7 +135,7 @@ class AutoTestRover(AutoTest): @@ -135,7 +135,7 @@ class AutoTestRover(AutoTest):
self.progress("Checking number of saved waypoints")
num_wp = self.save_mission_to_file(
os.path.join(testdir, "rover-ch7_mission.txt"))
os.path.join(testdir, "ch7_mission.txt"))
expected = 7 # home + 6 toggled in
if num_wp != expected:
raise NotAchievedException("Did not get %u waypoints; got %u" %
@ -422,8 +422,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) @@ -422,8 +422,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.wait_ready_to_arm()
self.arm_vehicle()
mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt")
self.load_mission(mission_filepath)
self.load_mission("rtl.txt")
self.change_mode("AUTO")
self.mavproxy.expect('Mission: 3 RTL')

Write Preview
Loading…
Cancel
Save