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768 lines
26 KiB
768 lines
26 KiB
#!/usr/bin/env python |
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# Fly ArduPlane in SITL |
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from __future__ import print_function |
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import math |
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import os |
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import pexpect |
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from pymavlink import quaternion |
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from pymavlink import mavutil |
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from pysim import util |
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from common import AutoTest |
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from common import AutoTestTimeoutException |
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from common import NotAchievedException |
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from common import PreconditionFailedException |
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# get location of scripts |
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testdir = os.path.dirname(os.path.realpath(__file__)) |
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HOME = mavutil.location(-35.362938, 149.165085, 585, 354) |
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WIND = "0,180,0.2" # speed,direction,variance |
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class AutoTestPlane(AutoTest): |
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def __init__(self, |
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binary, |
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valgrind=False, |
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gdb=False, |
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speedup=10, |
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frame=None, |
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params=None, |
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gdbserver=False, |
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breakpoints=[], |
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**kwargs): |
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super(AutoTestPlane, self).__init__(**kwargs) |
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self.binary = binary |
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self.valgrind = valgrind |
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self.gdb = gdb |
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self.frame = frame |
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self.params = params |
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self.gdbserver = gdbserver |
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self.breakpoints = breakpoints |
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self.home = "%f,%f,%u,%u" % (HOME.lat, |
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HOME.lng, |
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HOME.alt, |
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HOME.heading) |
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self.homeloc = None |
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self.speedup = speedup |
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self.sitl = None |
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self.hasInit = False |
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self.log_name = "ArduPlane" |
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def init(self): |
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if self.frame is None: |
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self.frame = 'plane-elevrev' |
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self.mavproxy_logfile = self.open_mavproxy_logfile() |
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defaults_file = os.path.join(testdir, |
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'default_params/plane-jsbsim.parm') |
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self.sitl = util.start_SITL(self.binary, |
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wipe=True, |
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model=self.frame, |
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home=self.home, |
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speedup=self.speedup, |
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defaults_file=defaults_file, |
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valgrind=self.valgrind, |
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gdb=self.gdb, |
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gdbserver=self.gdbserver, |
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breakpoints=self.breakpoints) |
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self.mavproxy = util.start_MAVProxy_SITL( |
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'ArduPlane', options=self.mavproxy_options()) |
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self.mavproxy.expect('Telemetry log: (\S+)\r\n') |
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self.logfile = self.mavproxy.match.group(1) |
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self.progress("LOGFILE %s" % self.logfile) |
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self.try_symlink_tlog() |
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self.mavproxy.expect('Received [0-9]+ parameters') |
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util.expect_setup_callback(self.mavproxy, self.expect_callback) |
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self.expect_list_clear() |
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self.expect_list_extend([self.sitl, self.mavproxy]) |
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self.progress("Started simulator") |
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self.get_mavlink_connection_going() |
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self.hasInit = True |
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self.progress("Ready to start testing!") |
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def takeoff(self): |
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"""Takeoff get to 30m altitude.""" |
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self.mavproxy.send('switch 4\n') |
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self.wait_mode('FBWA') |
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self.wait_ready_to_arm() |
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self.arm_vehicle() |
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# some rudder to counteract the prop torque |
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self.set_rc(4, 1700) |
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# some up elevator to keep the tail down |
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self.set_rc(2, 1200) |
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# get it moving a bit first |
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self.set_rc(3, 1300) |
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self.mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True) |
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# a bit faster again, straighten rudder |
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self.set_rc(3, 1600) |
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self.set_rc(4, 1500) |
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self.mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True) |
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# hit the gas harder now, and give it some more elevator |
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self.set_rc(2, 1100) |
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self.set_rc(3, 2000) |
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# gain a bit of altitude |
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self.wait_altitude(self.homeloc.alt+150, |
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self.homeloc.alt+180, |
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timeout=30) |
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# level off |
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self.set_rc(2, 1500) |
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self.progress("TAKEOFF COMPLETE") |
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def fly_left_circuit(self): |
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"""Fly a left circuit, 200m on a side.""" |
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self.mavproxy.send('switch 4\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 2000) |
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self.wait_level_flight() |
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self.progress("Flying left circuit") |
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# do 4 turns |
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for i in range(0, 4): |
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# hard left |
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self.progress("Starting turn %u" % i) |
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self.set_rc(1, 1000) |
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self.wait_heading(270 - (90*i), accuracy=10) |
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self.set_rc(1, 1500) |
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self.progress("Starting leg %u" % i) |
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self.wait_distance(100, accuracy=20) |
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self.progress("Circuit complete") |
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def fly_RTL(self): |
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"""Fly to home.""" |
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self.progress("Flying home in RTL") |
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self.mavproxy.send('switch 2\n') |
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self.wait_mode('RTL') |
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self.wait_location(self.homeloc, |
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accuracy=120, |
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target_altitude=self.homeloc.alt+100, |
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height_accuracy=20, |
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timeout=180) |
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self.progress("RTL Complete") |
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def fly_LOITER(self, num_circles=4): |
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"""Loiter where we are.""" |
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self.progress("Testing LOITER for %u turns" % num_circles) |
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self.mavproxy.send('loiter\n') |
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self.wait_mode('LOITER') |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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initial_alt = m.alt |
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self.progress("Initial altitude %u\n" % initial_alt) |
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while num_circles > 0: |
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self.wait_heading(0, accuracy=10, timeout=60) |
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self.wait_heading(180, accuracy=10, timeout=60) |
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num_circles -= 1 |
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self.progress("Loiter %u circles left" % num_circles) |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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final_alt = m.alt |
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self.progress("Final altitude %u initial %u\n" % |
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(final_alt, initial_alt)) |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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if abs(final_alt - initial_alt) > 20: |
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raise NotAchievedException("Failed to maintain altitude") |
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self.progress("Completed Loiter OK") |
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def fly_CIRCLE(self, num_circles=1): |
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"""Circle where we are.""" |
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self.progress("Testing CIRCLE for %u turns" % num_circles) |
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self.mavproxy.send('mode CIRCLE\n') |
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self.wait_mode('CIRCLE') |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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initial_alt = m.alt |
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self.progress("Initial altitude %u\n" % initial_alt) |
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while num_circles > 0: |
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self.wait_heading(0, accuracy=10, timeout=60) |
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self.wait_heading(180, accuracy=10, timeout=60) |
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num_circles -= 1 |
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self.progress("CIRCLE %u circles left" % num_circles) |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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final_alt = m.alt |
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self.progress("Final altitude %u initial %u\n" % |
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(final_alt, initial_alt)) |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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if abs(final_alt - initial_alt) > 20: |
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raise NotAchievedException("Failed to maintain altitude") |
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self.progress("Completed CIRCLE OK") |
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def wait_level_flight(self, accuracy=5, timeout=30): |
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"""Wait for level flight.""" |
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tstart = self.get_sim_time() |
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self.progress("Waiting for level flight") |
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self.set_rc(1, 1500) |
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self.set_rc(2, 1500) |
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self.set_rc(4, 1500) |
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while self.get_sim_time() < tstart + timeout: |
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m = self.mav.recv_match(type='ATTITUDE', blocking=True) |
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roll = math.degrees(m.roll) |
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pitch = math.degrees(m.pitch) |
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self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch)) |
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy: |
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self.progress("Attained level flight") |
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return |
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raise NotAchievedException("Failed to attain level flight") |
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def change_altitude(self, altitude, accuracy=30): |
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"""Get to a given altitude.""" |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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alt_error = self.mav.messages['VFR_HUD'].alt - altitude |
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if alt_error > 0: |
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self.set_rc(2, 2000) |
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else: |
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self.set_rc(2, 1000) |
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self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2) |
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self.set_rc(2, 1500) |
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self.progress("Reached target altitude at %u" % |
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self.mav.messages['VFR_HUD'].alt) |
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return self.wait_level_flight() |
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def axial_left_roll(self, count=1): |
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"""Fly a left axial roll.""" |
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# full throttle! |
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self.set_rc(3, 2000) |
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self.change_altitude(self.homeloc.alt+300) |
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# fly the roll in manual |
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self.mavproxy.send('switch 6\n') |
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self.wait_mode('MANUAL') |
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while count > 0: |
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self.progress("Starting roll") |
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self.set_rc(1, 1000) |
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try: |
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self.wait_roll(-150, accuracy=90) |
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self.wait_roll(150, accuracy=90) |
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self.wait_roll(0, accuracy=90) |
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except Exception as e: |
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self.set_rc(1, 1500) |
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raise e |
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count -= 1 |
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# back to FBWA |
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self.set_rc(1, 1500) |
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self.mavproxy.send('switch 4\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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return self.wait_level_flight() |
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def inside_loop(self, count=1): |
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"""Fly a inside loop.""" |
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# full throttle! |
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self.set_rc(3, 2000) |
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self.change_altitude(self.homeloc.alt+300) |
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# fly the loop in manual |
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self.mavproxy.send('switch 6\n') |
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self.wait_mode('MANUAL') |
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while count > 0: |
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self.progress("Starting loop") |
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self.set_rc(2, 1000) |
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self.wait_pitch(-60, accuracy=20) |
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self.wait_pitch(0, accuracy=20) |
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count -= 1 |
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# back to FBWA |
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self.set_rc(2, 1500) |
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self.mavproxy.send('switch 4\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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return self.wait_level_flight() |
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def set_attitude_target(self): |
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"""Test setting of attitude target in guided mode.""" |
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# mode guided: |
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self.mavproxy.send('mode GUIDED\n') |
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self.wait_mode('GUIDED') |
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target_roll_degrees = 70 |
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state_roll_over = "roll-over" |
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state_stabilize_roll = "stabilize-roll" |
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state_hold = "hold" |
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state_roll_back = "roll-back" |
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state_done = "done" |
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tstart = self.get_sim_time() |
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try: |
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state = state_roll_over |
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while state != state_done: |
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if self.get_sim_time() - tstart > 20: |
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raise AutoTestTimeoutException("Manuevers not completed") |
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m = self.mav.recv_match(type='ATTITUDE', |
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blocking=True, |
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timeout=0.1) |
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if m is None: |
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continue |
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r = math.degrees(m.roll) |
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if state == state_roll_over: |
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target_roll_degrees = 70 |
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if abs(r - target_roll_degrees) < 10: |
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state = state_stabilize_roll |
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stabilize_start = self.get_sim_time() |
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elif state == state_stabilize_roll: |
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# just give it a little time to sort it self out |
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if self.get_sim_time() - stabilize_start > 2: |
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state = state_hold |
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hold_start = self.get_sim_time() |
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elif state == state_hold: |
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target_roll_degrees = 70 |
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if self.get_sim_time() - hold_start > 10: |
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state = state_roll_back |
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if abs(r - target_roll_degrees) > 10: |
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raise NotAchievedException("Failed to hold attitude") |
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elif state == state_roll_back: |
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target_roll_degrees = 0 |
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if abs(r - target_roll_degrees) < 10: |
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state = state_done |
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else: |
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raise ValueError("Unknown state %s" % str(state)) |
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self.progress("%s Roll: %f desired=%f" % |
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(state, r, target_roll_degrees)) |
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time_boot_millis = 0 # FIXME |
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target_system = 1 # FIXME |
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target_component = 1 # FIXME |
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type_mask = 0b10000001 ^ 0xFF # FIXME |
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# attitude in radians: |
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q = quaternion.Quaternion([math.radians(target_roll_degrees), |
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0, |
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0]) |
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roll_rate_radians = 0.5 |
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pitch_rate_radians = 0 |
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yaw_rate_radians = 0 |
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thrust = 1.0 |
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self.mav.mav.set_attitude_target_send(time_boot_millis, |
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target_system, |
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target_component, |
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type_mask, |
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q, |
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roll_rate_radians, |
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pitch_rate_radians, |
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yaw_rate_radians, |
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thrust) |
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except Exception as e: |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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raise e |
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# back to FBWA |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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self.wait_level_flight() |
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def test_stabilize(self, count=1): |
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"""Fly stabilize mode.""" |
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# full throttle! |
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self.set_rc(3, 2000) |
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self.set_rc(2, 1300) |
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self.change_altitude(self.homeloc.alt+300) |
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self.set_rc(2, 1500) |
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self.mavproxy.send("mode STABILIZE\n") |
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self.wait_mode('STABILIZE') |
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while count > 0: |
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self.progress("Starting roll") |
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self.set_rc(1, 2000) |
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self.wait_roll(-150, accuracy=90) |
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self.wait_roll(150, accuracy=90) |
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self.wait_roll(0, accuracy=90) |
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count -= 1 |
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self.set_rc(1, 1500) |
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self.wait_roll(0, accuracy=5) |
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# back to FBWA |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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return self.wait_level_flight() |
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def test_acro(self, count=1): |
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"""Fly ACRO mode.""" |
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# full throttle! |
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self.set_rc(3, 2000) |
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self.set_rc(2, 1300) |
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self.change_altitude(self.homeloc.alt+300) |
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self.set_rc(2, 1500) |
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self.mavproxy.send("mode ACRO\n") |
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self.wait_mode('ACRO') |
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while count > 0: |
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self.progress("Starting roll") |
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self.set_rc(1, 1000) |
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self.wait_roll(-150, accuracy=90) |
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self.wait_roll(150, accuracy=90) |
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self.wait_roll(0, accuracy=90) |
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count -= 1 |
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self.set_rc(1, 1500) |
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# back to FBWA |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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self.wait_level_flight() |
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self.mavproxy.send("mode ACRO\n") |
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self.wait_mode('ACRO') |
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count = 2 |
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while count > 0: |
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self.progress("Starting loop") |
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self.set_rc(2, 1000) |
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self.wait_pitch(-60, accuracy=20) |
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self.wait_pitch(0, accuracy=20) |
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count -= 1 |
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self.set_rc(2, 1500) |
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# back to FBWA |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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self.set_rc(3, 1700) |
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return self.wait_level_flight() |
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def test_FBWB(self, mode='FBWB'): |
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"""Fly FBWB or CRUISE mode.""" |
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self.mavproxy.send("mode %s\n" % mode) |
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self.wait_mode(mode) |
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self.set_rc(3, 1700) |
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self.set_rc(2, 1500) |
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# lock in the altitude by asking for an altitude change then releasing |
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self.set_rc(2, 1000) |
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self.wait_distance(50, accuracy=20) |
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self.set_rc(2, 1500) |
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self.wait_distance(50, accuracy=20) |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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initial_alt = m.alt |
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self.progress("Initial altitude %u\n" % initial_alt) |
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|
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self.progress("Flying right circuit") |
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# do 4 turns |
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for i in range(0, 4): |
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# hard left |
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self.progress("Starting turn %u" % i) |
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self.set_rc(1, 1800) |
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try: |
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self.wait_heading(0 + (90*i), accuracy=20, timeout=60) |
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except Exception as e: |
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self.set_rc(1, 1500) |
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raise e |
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self.set_rc(1, 1500) |
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self.progress("Starting leg %u" % i) |
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self.wait_distance(100, accuracy=20) |
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self.progress("Circuit complete") |
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|
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self.progress("Flying rudder left circuit") |
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# do 4 turns |
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for i in range(0, 4): |
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# hard left |
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self.progress("Starting turn %u" % i) |
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self.set_rc(4, 1900) |
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try: |
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self.wait_heading(360 - (90*i), accuracy=20, timeout=60) |
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except Exception as e: |
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self.set_rc(4, 1500) |
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raise e |
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self.set_rc(4, 1500) |
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self.progress("Starting leg %u" % i) |
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self.wait_distance(100, accuracy=20) |
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self.progress("Circuit complete") |
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m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
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final_alt = m.alt |
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self.progress("Final altitude %u initial %u\n" % |
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(final_alt, initial_alt)) |
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# back to FBWA |
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self.mavproxy.send('mode FBWA\n') |
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self.wait_mode('FBWA') |
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|
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if abs(final_alt - initial_alt) > 20: |
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raise NotAchievedException("Failed to maintain altitude") |
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|
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return self.wait_level_flight() |
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|
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def fly_mission(self, filename): |
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"""Fly a mission from a file.""" |
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self.progress("Flying mission %s" % filename) |
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self.load_mission(filename) |
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self.mavproxy.send('switch 1\n') # auto mode |
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self.wait_mode('AUTO') |
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self.wait_waypoint(1, 7, max_dist=60) |
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self.wait_groundspeed(0, 0.5, timeout=60) |
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self.mavproxy.expect("Auto disarmed") |
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self.progress("Mission OK") |
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|
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def fly_flaps(self): |
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"""Test flaps functionality.""" |
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filename = os.path.join(testdir, "flaps.txt") |
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self.context_push() |
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ex = None |
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try: |
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flaps_ch = 5 |
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servo_ch = 5 |
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self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto |
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self.set_parameter("FLAP_IN_CHANNEL", flaps_ch) |
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self.set_parameter("LAND_FLAP_PERCNT", 50) |
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self.set_parameter("LOG_DISARMED", 1) |
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flaps_ch_min = 1000 |
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flaps_ch_trim = 1500 |
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flaps_ch_max = 2000 |
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self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min) |
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self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max) |
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self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim) |
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|
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servo_ch_min = 1200 |
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servo_ch_trim = 1300 |
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servo_ch_max = 1800 |
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self.set_parameter("SERVO%u_MIN" % servo_ch, servo_ch_min) |
|
self.set_parameter("SERVO%u_MAX" % servo_ch, servo_ch_max) |
|
self.set_parameter("SERVO%u_TRIM" % servo_ch, servo_ch_trim) |
|
|
|
self.progress("check flaps are not deployed") |
|
self.set_rc(flaps_ch, flaps_ch_min) |
|
self.wait_servo_channel_value(servo_ch, servo_ch_min) |
|
self.progress("deploy the flaps") |
|
self.set_rc(flaps_ch, flaps_ch_max) |
|
tstart = self.get_sim_time() |
|
self.wait_servo_channel_value(servo_ch, servo_ch_max) |
|
tstop = self.get_sim_time_cached() |
|
delta_time = tstop - tstart |
|
delta_time_min = 0.5 |
|
delta_time_max = 1.5 |
|
if delta_time < delta_time_min or delta_time > delta_time_max: |
|
raise NotAchievedException(( |
|
"Flaps Slew not working (%f seconds)" % (delta_time,))) |
|
self.progress("undeploy flaps") |
|
self.set_rc(flaps_ch, flaps_ch_min) |
|
self.wait_servo_channel_value(servo_ch, servo_ch_min) |
|
|
|
self.progress("Flying mission %s" % filename) |
|
self.load_mission(filename) |
|
self.mavproxy.send('wp set 1\n') |
|
self.mavproxy.send('switch 1\n') # auto mode |
|
self.wait_mode('AUTO') |
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
tstart = self.get_sim_time_cached() |
|
last_mission_current_msg = 0 |
|
last_seq = None |
|
while self.armed(): |
|
m = self.mav.recv_match(type='MISSION_CURRENT', blocking=True) |
|
time_delta = (self.get_sim_time_cached() - |
|
last_mission_current_msg) |
|
if (time_delta > 1 or m.seq != last_seq): |
|
dist = None |
|
x = self.mav.messages.get("NAV_CONTROLLER_OUTPUT", None) |
|
if x is not None: |
|
dist = x.wp_dist |
|
self.progress("MISSION_CURRENT.seq=%u (dist=%s)" % |
|
(m.seq, str(dist))) |
|
last_mission_current_msg = self.get_sim_time_cached() |
|
last_seq = m.seq |
|
# flaps should undeploy at the end |
|
self.wait_servo_channel_value(servo_ch, servo_ch_min, timeout=30) |
|
|
|
# do a short flight in FBWA, watching for flaps |
|
# self.mavproxy.send('switch 4\n') |
|
# self.wait_mode('FBWA') |
|
# self.wait_seconds(10) |
|
# self.mavproxy.send('switch 6\n') |
|
# self.wait_mode('MANUAL') |
|
# self.wait_seconds(10) |
|
|
|
self.progress("Flaps OK") |
|
except Exception as e: |
|
ex = e |
|
self.context_pop() |
|
if ex: |
|
if self.armed(): |
|
self.disarm_vehicle() |
|
raise ex |
|
|
|
def test_rc_relay(self): |
|
'''test toggling channel 12 toggles relay''' |
|
self.set_parameter("RC12_OPTION", 28) # Relay On/Off |
|
self.set_rc(12, 1000) |
|
self.reboot_sitl() # needed for RC12_OPTION to take effect |
|
|
|
off = self.get_parameter("SIM_PIN_MASK") |
|
if off: |
|
raise PreconditionFailedException("SIM_MASK_PIN off") |
|
|
|
# allow time for the RC library to register initial value: |
|
self.delay_sim_time(1) |
|
|
|
self.set_rc(12, 2000) |
|
self.wait_heartbeat() |
|
self.wait_heartbeat() |
|
|
|
on = self.get_parameter("SIM_PIN_MASK") |
|
if not on: |
|
raise NotAchievedException("SIM_PIN_MASK doesn't reflect ON") |
|
self.set_rc(12, 1000) |
|
self.wait_heartbeat() |
|
self.wait_heartbeat() |
|
off = self.get_parameter("SIM_PIN_MASK") |
|
if off: |
|
raise NotAchievedException("SIM_PIN_MASK doesn't reflect OFF") |
|
|
|
def test_rc_option_camera_trigger(self): |
|
'''test toggling channel 12 takes picture''' |
|
self.set_parameter("RC12_OPTION", 9) # CameraTrigger |
|
self.reboot_sitl() # needed for RC12_OPTION to take effect |
|
|
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None) |
|
if x is not None: |
|
raise PreconditionFailedException("Receiving CAMERA_FEEDBACK?!") |
|
self.set_rc(12, 2000) |
|
tstart = self.get_sim_time() |
|
while self.get_sim_time() - tstart < 10: |
|
x = self.mav.messages.get("CAMERA_FEEDBACK", None) |
|
if x is not None: |
|
break |
|
self.wait_heartbeat() |
|
self.set_rc(12, 1000) |
|
if x is None: |
|
raise NotAchievedException("No CAMERA_FEEDBACK message received") |
|
|
|
def test_gripper_mission(self): |
|
self.context_push() |
|
ex = None |
|
try: |
|
self.load_mission("plane-gripper-mission.txt") |
|
self.mavproxy.send("wp set 1\n") |
|
self.change_mode('AUTO') |
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
self.mavproxy.expect("Gripper Grabbed") |
|
self.mavproxy.expect("Gripper Released") |
|
self.mavproxy.expect("Auto disarmed") |
|
except Exception as e: |
|
self.progress("Exception caught") |
|
ex = e |
|
self.context_pop() |
|
if ex is not None: |
|
raise ex |
|
|
|
def run_subtest(self, desc, func): |
|
self.start_subtest(desc) |
|
func() |
|
|
|
def test_main_flight(self): |
|
|
|
self.change_mode('MANUAL') |
|
|
|
# grab home position: |
|
m = self.mav.recv_match(type='HOME_POSITION', blocking=True) |
|
self.homeloc = self.mav.location() |
|
|
|
self.run_subtest("Takeoff", self.takeoff) |
|
|
|
self.run_subtest("Set Attitude Target", self.set_attitude_target) |
|
|
|
self.run_subtest("Fly left circuit", self.fly_left_circuit) |
|
|
|
self.run_subtest("Left roll", lambda: self.axial_left_roll(1)) |
|
|
|
self.run_subtest("Inside loop", self.inside_loop) |
|
|
|
self.run_subtest("Stablize test", self.test_stabilize) |
|
|
|
self.run_subtest("ACRO test", self.test_acro) |
|
|
|
self.run_subtest("FBWB test", self.test_FBWB) |
|
|
|
self.run_subtest("CRUISE test", lambda: self.test_FBWB(mode='CRUISE')) |
|
|
|
self.run_subtest("RTL test", self.fly_RTL) |
|
|
|
self.run_subtest("LOITER test", self.fly_LOITER) |
|
|
|
self.run_subtest("CIRCLE test", self.fly_CIRCLE) |
|
|
|
self.run_subtest("Mission test", |
|
lambda: self.fly_mission( |
|
os.path.join(testdir, "ap1.txt"))) |
|
|
|
def set_rc_default(self): |
|
super(AutoTestPlane, self).set_rc_default() |
|
self.set_rc(3, 1000) |
|
self.set_rc(8, 1800) |
|
|
|
def default_mode(self): |
|
return "MANUAL" |
|
|
|
def tests(self): |
|
'''return list of all tests''' |
|
ret = super(AutoTestPlane, self).tests() |
|
ret.extend([ |
|
|
|
("TestRCCamera", |
|
"Test RC Option - Camera Trigger", |
|
self.test_rc_option_camera_trigger), |
|
|
|
("TestRCRelay", "Test Relay RC Channel Option", self.test_rc_relay), |
|
|
|
("TestFlaps", "Flaps", self.fly_flaps), |
|
|
|
("MainFlight", |
|
"Lots of things in one flight", |
|
self.test_main_flight), |
|
|
|
("TestGripperMission", |
|
"Test Gripper mission items", |
|
self.test_gripper_mission), |
|
|
|
("LogDownLoad", |
|
"Log download", |
|
lambda: self.log_download( |
|
self.buildlogs_path("ArduPlane-log.bin"), |
|
upload_logs=True)) |
|
]) |
|
return ret
|
|
|