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ardupilot/Tools/autotest/ardusub.py

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'''
Dive ArduSub in SITL
AP_FLAKE8_CLEAN
'''
from __future__ import print_function
import os
import sys
import time
from pymavlink import mavutil
from common import AutoTest
from common import NotAchievedException
from common import AutoTestTimeoutException
if sys.version_info[0] < 3:
ConnectionResetError = AutoTestTimeoutException
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(33.810313, -118.393867, 0, 185)
class Joystick():
Pitch = 1
Roll = 2
Throttle = 3
Yaw = 4
Forward = 5
Lateral = 6
class AutoTestSub(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return []
@staticmethod
def get_no_position_not_settable_modes_list():
return ["AUTO", "GUIDED", "CIRCLE", "POSHOLD"]
@staticmethod
def get_position_armable_modes_list():
return []
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "ALT_HOLD", "MANUAL", "STABILIZE", "SURFACE"]
def log_name(self):
return "ArduSub"
def default_speedup(self):
'''Sub seems to be race-free'''
return 100
def test_filepath(self):
return os.path.realpath(__file__)
def set_current_test_name(self, name):
self.current_test_name_directory = "ArduSub_Tests/" + name + "/"
def default_mode(self):
return 'MANUAL'
def sitl_start_location(self):
return SITL_START_LOCATION
def default_frame(self):
return 'vectored'
def is_sub(self):
return True
def watch_altitude_maintained(self, delta=0.3, timeout=5.0):
"""Watch and wait for the actual altitude to be maintained
Keyword Arguments:
delta {float} -- Maximum altitude range to be allowed from actual point (default: {0.5})
timeout {float} -- Timeout time in simulation seconds (default: {5.0})
Raises:
NotAchievedException: Exception when altitude fails to hold inside the time and
altitude range
"""
tstart = self.get_sim_time_cached()
previous_altitude = self.mav.recv_match(type='VFR_HUD', blocking=True).alt
self.progress('Altitude to be watched: %f' % (previous_altitude))
while True:
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
if self.get_sim_time_cached() - tstart > timeout:
self.progress('Altitude hold done: %f' % (previous_altitude))
return
if abs(m.alt - previous_altitude) > delta:
raise NotAchievedException(
"Altitude not maintained: want %.2f (+/- %.2f) got=%.2f" %
(previous_altitude, delta, m.alt))
def test_alt_hold(self):
"""Test ALT_HOLD mode
"""
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('ALT_HOLD')
msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
if msg is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
pwm = 1000
if msg.relative_alt/1000.0 < -5.5:
# need to g`o up, not down!
pwm = 2000
self.set_rc(Joystick.Throttle, pwm)
self.wait_altitude(altitude_min=-6, altitude_max=-5)
self.set_rc(Joystick.Throttle, 1500)
# let the vehicle settle (momentum / stopping point shenanigans....)
self.delay_sim_time(1)
self.watch_altitude_maintained()
self.set_rc(Joystick.Throttle, 1000)
self.wait_altitude(altitude_min=-20, altitude_max=-19)
self.set_rc(Joystick.Throttle, 1500)
# let the vehicle settle (momentum / stopping point shenanigans....)
self.delay_sim_time(1)
self.watch_altitude_maintained()
self.set_rc(Joystick.Throttle, 1900)
self.wait_altitude(altitude_min=-14, altitude_max=-13)
self.set_rc(Joystick.Throttle, 1500)
# let the vehicle settle (momentum / stopping point shenanigans....)
self.delay_sim_time(1)
self.watch_altitude_maintained()
self.set_rc(Joystick.Throttle, 1900)
self.wait_altitude(altitude_min=-5, altitude_max=-4)
self.set_rc(Joystick.Throttle, 1500)
# let the vehicle settle (momentum / stopping point shenanigans....)
self.delay_sim_time(1)
self.watch_altitude_maintained()
# Make sure the code can handle buoyancy changes
self.set_parameter("SIM_BUOYANCY", 10)
self.watch_altitude_maintained()
self.set_parameter("SIM_BUOYANCY", -10)
self.watch_altitude_maintained()
# Make sure that the ROV will dive with a small input down even if there is a 10N buoyancy force upwards
self.set_parameter("SIM_BUOYANCY", 10)
self.set_rc(Joystick.Throttle, 1350)
self.wait_altitude(altitude_min=-6, altitude_max=-5.5)
self.set_rc(Joystick.Throttle, 1500)
self.watch_altitude_maintained()
self.disarm_vehicle()
def test_pos_hold(self):
"""Test POSHOLD mode"""
self.wait_ready_to_arm()
self.arm_vehicle()
# point North
self.reach_heading_manual(0)
self.change_mode('POSHOLD')
# dive a little
self.set_rc(Joystick.Throttle, 1300)
self.delay_sim_time(3)
self.set_rc(Joystick.Throttle, 1500)
self.delay_sim_time(2)
# Save starting point
msg = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=5)
if msg is None:
raise NotAchievedException("Did not get GLOBAL_POSITION_INT")
start_pos = self.mav.location()
# Hold in perfect conditions
self.progress("Testing position hold in perfect conditions")
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in calm waters within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Hold in 1 m/s current
self.progress("Testing position hold in current")
self.set_parameter("SIM_WIND_SPD", 1)
self.set_parameter("SIM_WIND_T", 1)
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
if distance_m > 1:
raise NotAchievedException("Position Hold was unable to keep position in 1m/s current within 1 meter after 10 seconds, drifted {} meters".format(distance_m)) # noqa
# Move forward slowly in 1 m/s current
start_pos = self.mav.location()
self.progress("Testing moving forward in position hold in 1m/s current")
self.set_rc(Joystick.Forward, 1600)
self.delay_sim_time(10)
distance_m = self.get_distance(start_pos, self.mav.location())
bearing = self.get_bearing(start_pos, self.mav.location())
if distance_m < 2 or (bearing > 30 and bearing < 330):
raise NotAchievedException("Position Hold was unable to move north 2 meters, moved {} at {} degrees instead".format(distance_m, bearing)) # noqa
self.disarm_vehicle()
def test_mot_thst_hover_ignore(self):
"""Test if we are ignoring MOT_THST_HOVER parameter
"""
# Test default parameter value
mot_thst_hover_value = self.get_parameter("MOT_THST_HOVER")
if mot_thst_hover_value != 0.5:
raise NotAchievedException("Unexpected default MOT_THST_HOVER parameter value {}".format(mot_thst_hover_value))
# Test if parameter is being ignored
for value in [0.25, 0.75]:
self.set_parameter("MOT_THST_HOVER", value)
self.test_alt_hold()
def dive_manual(self):
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(Joystick.Throttle, 1600)
self.set_rc(Joystick.Forward, 1600)
self.set_rc(Joystick.Lateral, 1550)
self.wait_distance(50, accuracy=7, timeout=200)
self.set_rc(Joystick.Yaw, 1550)
self.wait_heading(0)
self.set_rc(Joystick.Yaw, 1500)
self.wait_distance(50, accuracy=7, timeout=100)
self.set_rc(Joystick.Yaw, 1550)
self.wait_heading(0)
self.set_rc(Joystick.Yaw, 1500)
self.set_rc(Joystick.Forward, 1500)
self.set_rc(Joystick.Lateral, 1100)
self.wait_distance(75, accuracy=7, timeout=100)
self.set_rc_default()
self.disarm_vehicle()
self.progress("Manual dive OK")
m = self.assert_receive_message('SCALED_PRESSURE3')
if m.temperature != 2650:
raise NotAchievedException("Did not get correct TSYS01 temperature")
def dive_mission(self, filename):
self.progress("Executing mission %s" % filename)
self.load_mission(filename)
self.set_rc_default()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_waypoint(1, 5, max_dist=5)
self.disarm_vehicle()
self.progress("Mission OK")
def test_gripper_mission(self):
try:
self.get_parameter("GRIP_ENABLE", timeout=5)
except NotAchievedException:
self.progress("Skipping; Gripper not enabled in config?")
return
self.load_mission("sub-gripper-mission.txt")
self.change_mode('LOITER')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('AUTO')
self.wait_statustext("Gripper Grabbed", timeout=60)
self.wait_statustext("Gripper Released", timeout=60)
def dive_set_position_target(self):
self.change_mode('GUIDED')
self.wait_ready_to_arm()
self.arm_vehicle()
startpos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
lat = 5
lon = 5
alt = -10
# send a position-control command
self.mav.mav.set_position_target_global_int_send(
0, # timestamp
1, # target system_id
1, # target component id
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
0b1111111111111000, # mask specifying use-only-lat-lon-alt
lat, # lat
lon, # lon
alt, # alt
0, # vx
0, # vy
0, # vz
0, # afx
0, # afy
0, # afz
0, # yaw
0, # yawrate
)
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 200:
raise NotAchievedException("Did not move far enough")
pos = self.mav.recv_match(type='GLOBAL_POSITION_INT',
blocking=True)
delta = self.get_distance_int(startpos, pos)
self.progress("delta=%f (want >10)" % delta)
if delta > 10:
break
self.change_mode('MANUAL')
self.disarm_vehicle()
def reboot_sitl(self):
"""Reboot SITL instance and wait it to reconnect."""
# out battery is reset to full on reboot. So reduce it to 10%
# and wait for it to go above 50.
self.run_cmd(mavutil.mavlink.MAV_CMD_BATTERY_RESET,
255, # battery mask
10, # percentage
0,
0,
0,
0,
0,
0)
self.run_cmd_reboot()
tstart = time.time()
while True:
if time.time() - tstart > 30:
raise NotAchievedException("Did not detect reboot")
# ask for the message:
batt = None
try:
self.send_cmd(mavutil.mavlink.MAV_CMD_REQUEST_MESSAGE,
mavutil.mavlink.MAVLINK_MSG_ID_BATTERY_STATUS,
0,
0,
0,
0,
0,
0)
batt = self.mav.recv_match(type='BATTERY_STATUS',
blocking=True,
timeout=1)
except ConnectionResetError:
pass
self.progress("Battery: %s" % str(batt))
if batt is None:
continue
if batt.battery_remaining > 50:
break
self.initialise_after_reboot_sitl()
def DoubleCircle(self):
self.change_mode('CIRCLE')
self.wait_ready_to_arm()
self.arm_vehicle()
self.change_mode('STABILIZE')
self.change_mode('CIRCLE')
self.disarm_vehicle()
def default_parameter_list(self):
ret = super(AutoTestSub, self).default_parameter_list()
ret["FS_GCS_ENABLE"] = 0 # FIXME
return ret
def disabled_tests(self):
ret = super(AutoTestSub, self).disabled_tests()
ret.update({
"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247", # noqa
})
return ret
def tests(self):
'''return list of all tests'''
ret = super(AutoTestSub, self).tests()
ret.extend([
("DiveManual", "Dive manual", self.dive_manual),
("AltitudeHold", "Test altitude holde mode", self.test_alt_hold),
("PositionHold", "Test position hold mode", self.test_pos_hold),
("DiveMission",
"Dive mission",
lambda: self.dive_mission("sub_mission.txt")),
("GripperMission",
"Test gripper mission items",
self.test_gripper_mission),
("DoubleCircle",
"Test entering circle twice",
self.DoubleCircle),
("MotorThrustHoverParameterIgnore", "Test if we are ignoring MOT_THST_HOVER", self.test_mot_thst_hover_ignore),
("SET_POSITION_TARGET_GLOBAL_INT",
"Move vehicle using SET_POSITION_TARGET_GLOBAL_INT",
self.dive_set_position_target),
("TestLogDownloadMAVProxy",
"Test Onboard Log Download using MAVProxy",
self.test_log_download_mavproxy),
("LogUpload",
"Upload logs",
self.log_upload),
])
return ret