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ardupilot/Tools/autotest/quadplane.py

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#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
from __future__ import print_function
import os
import numpy
import math
from pymavlink import mavutil
from common import AutoTest
from common import AutoTestTimeoutException, NotAchievedException, PreconditionFailedException
from pysim import vehicleinfo
import operator
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
WIND = "0,180,0.2" # speed,direction,variance
SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
class AutoTestQuadPlane(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 []
@staticmethod
def get_position_armable_modes_list():
return []
@staticmethod
def get_normal_armable_modes_list():
return []
def default_frame(self):
return "quadplane"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def log_name(self):
return "QuadPlane"
def set_current_test_name(self, name):
self.current_test_name_directory = "ArduPlane_Tests/" + name + "/"
def apply_defaultfile_parameters(self):
# plane passes in a defaults_filepath in place of applying
# parameters afterwards.
pass
def defaults_filepath(self):
return self.model_defaults_filepath("ArduPlane",self.frame)
def is_plane(self):
return True
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self):
return int(self.get_parameter("LAND_DISARMDELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", delay)
def test_airmode(self):
"""Check that plane.air_mode turns on and off as required"""
self.progress("########## Testing AirMode operation")
self.set_parameter("AHRS_EKF_TYPE", 10)
self.change_mode('QSTABILIZE')
self.wait_ready_to_arm()
"""
SPIN_ARM and SPIN_MIN default to 0.10 and 0.15
when armed with zero throttle in AirMode, motor PWM should be at SPIN_MIN
If AirMode is off, motor PWM will drop to SPIN_ARM
"""
self.progress("Verify that SERVO5 is Motor1 (default)")
motor1_servo_function_lp = 33
if (self.get_parameter('SERVO5_FUNCTION') != motor1_servo_function_lp):
raise PreconditionFailedException("SERVO5_FUNCTION not %d" % motor1_servo_function_lp)
self.progress("Verify that flightmode channel is 5 (default)")
default_fltmode_ch = 5
if (self.get_parameter("FLTMODE_CH") != default_fltmode_ch):
raise PreconditionFailedException("FLTMODE_CH not %d" % default_fltmode_ch)
"""When disarmed, motor PWM will drop to min_pwm"""
min_pwm = self.get_parameter("Q_THR_MIN_PWM")
self.progress("Verify Motor1 is at min_pwm when disarmed")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.eq)
"""set Q_OPTIONS bit AIRMODE"""
airmode_option_bit = (1<<9)
self.set_parameter("Q_OPTIONS", airmode_option_bit)
armdisarm_option = 41
arm_ch = 8
self.set_parameter("RC%d_OPTION" % arm_ch, armdisarm_option)
self.progress("Configured RC%d as ARMDISARM switch" % arm_ch)
"""arm with GCS, record Motor1 SPIN_ARM PWM output and disarm"""
spool_delay = self.get_parameter("Q_M_SPOOL_TIME") + 0.25
self.zero_throttle()
self.arm_vehicle()
self.progress("Waiting for Motor1 to spool up to SPIN_ARM")
self.delay_sim_time(spool_delay)
spin_arm_pwm = self.wait_servo_channel_value(5, min_pwm, comparator=operator.gt)
self.progress("spin_arm_pwm: %d" % spin_arm_pwm)
self.disarm_vehicle()
"""arm with switch, record Motor1 SPIN_MIN PWM output and disarm"""
self.set_rc(8, 2000)
self.delay_sim_time(spool_delay)
self.progress("Waiting for Motor1 to spool up to SPIN_MIN")
spin_min_pwm = self.wait_servo_channel_value(5, spin_arm_pwm, comparator=operator.gt)
self.progress("spin_min_pwm: %d" % spin_min_pwm)
self.set_rc(8, 1000)
if (spin_arm_pwm >= spin_min_pwm):
raise PreconditionFailedException("SPIN_MIN pwm not greater than SPIN_ARM pwm")
self.start_subtest("Test auxswitch arming with Q_OPTIONS=AirMode")
for mode in ('QSTABILIZE', 'QACRO'):
"""verify that arming with switch results in higher PWM output"""
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("Arming with switch at zero throttle")
self.arm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("Verify that rudder disarm is disabled")
if self.disarm_motors_with_rc_input():
raise NotAchievedException("Rudder disarm not disabled")
self.progress("Disarming with switch")
self.disarm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to stop")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.le)
self.wait_ready_to_arm()
self.start_subtest("Verify that arming with switch does not spin motors in other modes")
# introduce a large attitude error to verify that stabilization is not active
ahrs_trim_x = self.get_parameter("AHRS_TRIM_X")
self.set_parameter("AHRS_TRIM_X", math.radians(-60))
self.wait_roll(60, 1)
# test all modes except QSTABILIZE, QACRO, AUTO and QAUTOTUNE
for mode in ('QLOITER', 'QHOVER', 'CIRCLE', 'STABILIZE', 'TRAINING', 'ACRO', 'FBWA', 'FBWB', 'CRUISE', 'AUTOTUNE', 'RTL', 'LOITER', 'AVOID_ADSB', 'GUIDED', 'QLAND', 'QRTL'):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("Arming with switch at zero throttle")
self.arm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to (not) speed up")
self.delay_sim_time(spool_delay)
self.wait_servo_channel_value(5, spin_arm_pwm, comparator=operator.le)
self.wait_servo_channel_value(6, spin_arm_pwm, comparator=operator.le)
self.wait_servo_channel_value(7, spin_arm_pwm, comparator=operator.le)
self.wait_servo_channel_value(8, spin_arm_pwm, comparator=operator.le)
self.progress("Disarming with switch")
self.disarm_motors_with_switch(arm_ch)
self.progress("Waiting for Motor1 to stop")
self.wait_servo_channel_value(5, min_pwm, comparator=operator.le)
self.wait_ready_to_arm()
# remove attitude error
self.set_parameter("AHRS_TRIM_X", ahrs_trim_x)
self.start_subtest("verify that AIRMODE auxswitch turns airmode on/off while armed")
"""set RC7_OPTION to AIRMODE"""
option_airmode = 84
self.set_parameter("RC7_OPTION", option_airmode)
for mode in ('QSTABILIZE', 'QACRO'):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("Arming with GCS at zero throttle")
self.arm_vehicle()
self.progress("Turn airmode on with auxswitch")
self.set_rc(7, 2000)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("Turn airmode off with auxswitch")
self.set_rc(7, 1000)
self.progress("Waiting for Motor1 to slow down")
self.wait_servo_channel_value(5, spin_arm_pwm, comparator=operator.le)
self.disarm_vehicle()
self.wait_ready_to_arm()
self.start_subtest("Test GCS arming")
for mode in ('QSTABILIZE', 'QACRO'):
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.zero_throttle()
self.progress("Arming with GCS at zero throttle")
self.arm_vehicle()
self.progress("Turn airmode on with auxswitch")
self.set_rc(7, 2000)
self.progress("Waiting for Motor1 to speed up")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.progress("Disarm/rearm with GCS")
self.disarm_vehicle()
self.arm_vehicle()
self.progress("Verify that airmode is still on")
self.wait_servo_channel_value(5, spin_min_pwm, comparator=operator.ge)
self.disarm_vehicle()
self.wait_ready_to_arm()
def test_motor_mask(self):
"""Check operation of output_motor_mask"""
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
self.progress("output_motor_mask not in use")
return
self.progress("Testing output_motor_mask")
self.wait_ready_to_arm()
"""Default channel for Motor1 is 5"""
self.progress('Assert that SERVO5 is Motor1')
assert(33 == self.get_parameter('SERVO5_FUNCTION'))
modes = ('MANUAL', 'FBWA', 'QHOVER')
for mode in modes:
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.arm_vehicle()
self.progress("Raising throttle")
self.set_rc(3, 1800)
self.progress("Waiting for Motor1 to start")
self.wait_servo_channel_value(5, 1100, comparator=operator.gt)
self.set_rc(3, 1000)
self.disarm_vehicle()
self.wait_ready_to_arm()
def fly_mission(self, filename, fence=None, height_accuracy=-1):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
if fence is not None:
self.load_fence(fence)
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# wait for blood sample here
self.mavproxy.send('wp set 20\n')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
self.progress("Mission OK")
def fly_qautotune(self):
self.change_mode("QHOVER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 1800)
self.wait_altitude(30,
40,
relative=True,
timeout=30)
self.set_rc(3, 1500)
self.change_mode("QAUTOTUNE")
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
break
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
self.set_rc(3, 1200)
self.wait_altitude(-5, 1, relative=True, timeout=30)
while self.get_sim_time_cached() < deadline:
self.mavproxy.send('disarm\n')
try:
self.wait_text("AutoTune: Saved gains for Roll Pitch Yaw", timeout=0.5)
except AutoTestTimeoutException as e:
continue
break
self.wait_disarmed()
def takeoff(self, height, mode):
"""climb to specified height and set throttle to 1500"""
self.change_mode(mode)
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 1800)
self.wait_altitude(height,
height+5,
relative=True,
timeout=30)
self.set_rc(3, 1500)
def do_RTL(self):
self.change_mode("QRTL")
self.wait_altitude(-5, 1, relative=True, timeout=60)
self.wait_disarmed()
self.zero_throttle()
def fly_home_land_and_disarm(self, timeout=30):
self.set_parameter("LAND_TYPE", 0)
filename = "flaps.txt"
self.progress("Using %s to fly home" % filename)
self.load_mission(filename)
self.change_mode("AUTO")
self.mavproxy.send('wp set 7\n')
self.wait_disarmed(timeout=timeout)
def wait_level_flight(self, accuracy=5, timeout=30):
"""Wait for level flight."""
tstart = self.get_sim_time()
self.progress("Waiting for level flight")
self.set_rc(1, 1500)
self.set_rc(2, 1500)
self.set_rc(4, 1500)
while self.get_sim_time_cached() < tstart + timeout:
m = self.mav.recv_match(type='ATTITUDE', blocking=True)
roll = math.degrees(m.roll)
pitch = math.degrees(m.pitch)
self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch))
if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
self.progress("Attained level flight")
return
raise NotAchievedException("Failed to attain level flight")
def fly_left_circuit(self):
"""Fly a left circuit, 200m on a side."""
self.mavproxy.send('switch 4\n')
self.change_mode('FBWA')
self.set_rc(3, 1700)
self.wait_level_flight()
self.progress("Flying left circuit")
# do 4 turns
for i in range(0, 4):
# hard left
self.progress("Starting turn %u" % i)
self.set_rc(1, 1000)
self.wait_heading(270 - (90*i), accuracy=10)
self.set_rc(1, 1500)
self.progress("Starting leg %u" % i)
self.wait_distance(100, accuracy=20)
self.progress("Circuit complete")
self.change_mode('QHOVER')
self.set_rc(3, 1100)
self.wait_altitude(10, 15,
relative=True,
timeout=60)
self.set_rc(3, 1500)
def hover_and_check_matched_frequency(self, dblevel=-15, minhz=200, maxhz=300, fftLength=32, peakhz=None):
# find a motor peak
self.takeoff(10, mode="QHOVER")
hover_time = 15
tstart = self.get_sim_time()
self.progress("Hovering for %u seconds" % hover_time)
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
vfr_hud = self.mav.recv_match(type='VFR_HUD', blocking=True)
tend = self.get_sim_time()
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
# batch sampler defaults give 1024 fft and sample rate of 1kz so roughly 1hz/bin
scale = 1000. / 1024.
sminhz = int(minhz * scale)
smaxhz = int(maxhz * scale)
freq = psd["F"][numpy.argmax(psd["X"][sminhz:smaxhz]) + sminhz]
peakdb = numpy.amax(psd["X"][sminhz:smaxhz])
if peakdb < dblevel or (peakhz is not None and abs(freq - peakhz) / peakhz > 0.05):
raise NotAchievedException("No motor peak, found %fHz at %fdB" % (freq, peakdb))
else:
self.progress("motor peak %fHz, thr %f%%, %fdB" % (freq, vfr_hud.throttle, peakdb))
# we have a peak make sure that the FFT detected something close
# logging is at 10Hz
mlog = self.dfreader_for_current_onboard_log()
# accuracy is determined by sample rate and fft length, given our use of quinn we could probably use half of this
freqDelta = 1000. / fftLength
pkAvg = freq
freqs = []
while True:
m = mlog.recv_match(
type='FTN1',
blocking=True,
condition="FTN1.TimeUS>%u and FTN1.TimeUS<%u" % (tstart * 1.0e6, tend * 1.0e6))
if m is None:
break
freqs.append(m.PkAvg)
# peak within resolution of FFT length
pkAvg = numpy.median(numpy.asarray(freqs))
if abs(pkAvg - freq) > freqDelta:
raise NotAchievedException("FFT did not detect a motor peak at %f, found %f, wanted %f" % (dblevel, pkAvg, freq))
return freq
def fly_gyro_fft(self):
"""Use dynamic harmonic notch to control motor noise."""
# basic gyro sample rate test
self.progress("Flying with gyro FFT - Gyro sample rate")
self.context_push()
ex = None
try:
self.set_rc_default()
# magic tridge EKF type that dramatically speeds up the test
self.set_parameters({
"AHRS_EKF_TYPE": 10,
"INS_LOG_BAT_MASK": 3,
"INS_LOG_BAT_OPT": 0,
"INS_GYRO_FILTER": 100,
"LOG_BITMASK": 45054,
"LOG_DISARMED": 0,
"SIM_DRIFT_SPEED": 0,
"SIM_DRIFT_TIME": 0,
# enable a noisy motor peak
"SIM_GYR1_RND": 20,
# enabling FFT will also enable the arming check: self-testing the functionality
"FFT_ENABLE": 1,
"FFT_MINHZ": 80,
"FFT_MAXHZ": 350,
"FFT_SNR_REF": 10,
"FFT_WINDOW_SIZE": 128,
"FFT_WINDOW_OLAP": 0.75,
});
# Step 1: inject a very precise noise peak at 250hz and make sure the in-flight fft
# can detect it really accurately. For a 128 FFT the frequency resolution is 8Hz so
# a 250Hz peak should be detectable within 5%
self.set_parameters({
"SIM_VIB_FREQ_X": 250,
"SIM_VIB_FREQ_Y": 250,
"SIM_VIB_FREQ_Z": 250,
})
self.reboot_sitl()
# find a motor peak
self.hover_and_check_matched_frequency(-15, 100, 350, 128, 250)
# Step 2: inject actual motor noise and use the standard length FFT to track it
self.set_parameters({
"SIM_VIB_MOT_MAX": 350,
"FFT_WINDOW_SIZE": 32,
"FFT_WINDOW_OLAP": 0.5,
})
self.reboot_sitl()
# find a motor peak
freq = self.hover_and_check_matched_frequency(-15, 200, 300, 32)
# Step 3: add a FFT dynamic notch and check that the peak is squashed
self.set_parameters({
"INS_LOG_BAT_OPT": 2,
"INS_HNTCH_ENABLE": 1,
"INS_HNTCH_FREQ": freq,
"INS_HNTCH_REF": 1.0,
"INS_HNTCH_ATT": 50,
"INS_HNTCH_BW": freq/2,
"INS_HNTCH_MODE": 4,
})
self.reboot_sitl()
self.takeoff(10, mode="QHOVER")
hover_time = 15
ignore_bins = 20
self.progress("Hovering for %u seconds" % hover_time)
tstart = self.get_sim_time()
while self.get_sim_time_cached() < tstart + hover_time:
self.mav.recv_match(type='ATTITUDE', blocking=True)
tend = self.get_sim_time()
self.do_RTL()
psd = self.mavfft_fttd(1, 0, tstart * 1.0e6, tend * 1.0e6)
freq = psd["F"][numpy.argmax(psd["X"][ignore_bins:]) + ignore_bins]
peakdB = numpy.amax(psd["X"][ignore_bins:])
if peakdB < -10:
self.progress("No motor peak, %f at %f dB" % (freq, peakdB))
else:
raise NotAchievedException("Detected peak at %f Hz of %.2f dB" % (freq, peakdB))
# Step 4: take off as a copter land as a plane, make sure we track
self.progress("Flying with gyro FFT - vtol to plane")
self.load_mission("quadplane-gyro-mission.txt")
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 7, max_dist=60, timeout=1200)
self.wait_disarmed(timeout=120) # give quadplane a long time to land
# prevent update parameters from messing with the settings when we pop the context
self.set_parameter("FFT_ENABLE", 0)
self.reboot_sitl()
except Exception as e:
self.progress("Exception caught: %s" % (
self.get_exception_stacktrace(e)))
ex = e
self.context_pop()
self.reboot_sitl()
if ex is not None:
raise ex
def test_pid_tuning(self):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestQuadPlane, self).test_pid_tuning()
def test_parameter_checks(self):
self.test_parameter_checks_poscontrol("Q_P")
def rc_defaults(self):
ret = super(AutoTestQuadPlane, self).rc_defaults()
ret[3] = 1000
return ret
def default_mode(self):
return "MANUAL"
def disabled_tests(self):
return {
"QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411",
"FRSkyPassThrough": "Currently failing",
"CPUFailsafe": "servo channel values not scaled like ArduPlane",
}
def test_pilot_yaw(self):
self.takeoff(10, mode="QLOITER")
self.set_parameter("STICK_MIXING", 0)
self.set_rc(4, 1700)
for mode in "QLOITER", "QHOVER":
self.wait_heading(45)
self.wait_heading(90)
self.wait_heading(180)
self.wait_heading(275)
self.set_rc(4, 1500)
self.do_RTL()
def CPUFailsafe(self):
'''In lockup Plane should copy RC inputs to RC outputs'''
self.plane_CPUFailsafe()
def test_qassist(self):
# find a motor peak
self.takeoff(10, mode="QHOVER")
self.set_rc(3, 1800)
self.change_mode("FBWA")
# disable stall prevention so roll angle is not limited
self.set_parameter("STALL_PREVENTION", 0)
thr_min_pwm = self.get_parameter("Q_THR_MIN_PWM")
lim_roll_deg = self.get_parameter("LIM_ROLL_CD") * 0.01
self.progress("Waiting for motors to stop (transition completion)")
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.delay_sim_time(5)
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.progress("Stopping forward motor to kill airspeed below limit")
self.set_rc(3, 1000)
self.progress("Waiting for qassist to kick in")
self.wait_servo_channel_value(5, 1400, timeout=30, comparator=operator.gt)
self.progress("Move forward again, check qassist stops")
self.set_rc(3, 1800)
self.progress("Checking qassist stops")
self.wait_servo_channel_value(5,
thr_min_pwm,
timeout=30,
comparator=operator.eq)
self.set_rc(3, 1300)
self.context_push()
self.progress("Rolling over to %.0f degrees" % -lim_roll_deg)
self.set_rc(1, 1000)
self.wait_roll(-lim_roll_deg, 5)
self.progress("Killing servo outputs to force qassist to help")
self.set_parameter("SERVO1_MIN", 1480)
self.set_parameter("SERVO1_MAX", 1480)
self.set_parameter("SERVO1_TRIM", 1480)
self.progress("Trying to roll over hard the other way")
self.set_rc(1, 2000)
self.progress("Waiting for qassist (angle) to kick in")
self.wait_servo_channel_value(5, 1100, timeout=30, comparator=operator.gt)
self.wait_roll(lim_roll_deg, 5)
self.context_pop()
self.set_rc(1, 1500)
self.set_parameter("Q_RTL_MODE", 1)
self.change_mode("RTL")
self.wait_disarmed(timeout=300)
def tests(self):
'''return list of all tests'''
ret = super(AutoTestQuadPlane, self).tests()
ret.extend([
("TestAirMode", "Test airmode", self.test_airmode),
("TestMotorMask", "Test output_motor_mask", self.test_motor_mask),
("PilotYaw",
"Test pilot yaw in various modes",
self.test_pilot_yaw),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),
("TestLogDownload",
"Test Onboard Log Download",
self.test_log_download),
("Mission", "Dalby Mission",
lambda: self.fly_mission("Dalby-OBC2016.txt", "Dalby-OBC2016-fence.txt")),
("QAssist",
"QuadPlane Assist tests",
self.test_qassist),
("GyroFFT", "Fly Gyro FFT",
self.fly_gyro_fft),
("LogUpload",
"Log upload",
self.log_upload),
])
return ret