You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
942 lines
34 KiB
942 lines
34 KiB
#!/usr/bin/env python |
|
|
|
# Fly ArduPlane in SITL |
|
from __future__ import print_function |
|
import math |
|
import os |
|
|
|
import pexpect |
|
from pymavlink import quaternion |
|
from pymavlink import mavutil |
|
|
|
from pysim import util |
|
|
|
from common import AutoTest |
|
from common import AutoTestTimeoutException |
|
from common import NotAchievedException |
|
from common import PreconditionFailedException |
|
|
|
# get location of scripts |
|
testdir = os.path.dirname(os.path.realpath(__file__)) |
|
SITL_START_LOCATION = mavutil.location(-35.362938, 149.165085, 585, 354) |
|
WIND = "0,180,0.2" # speed,direction,variance |
|
|
|
|
|
class AutoTestPlane(AutoTest): |
|
|
|
def log_name(self): |
|
return "ArduPlane" |
|
|
|
def test_filepath(self): |
|
return os.path.realpath(__file__) |
|
|
|
def sitl_start_location(self): |
|
return SITL_START_LOCATION |
|
|
|
def defaults_filepath(self): |
|
return os.path.join(testdir, 'default_params/plane-jsbsim.parm') |
|
|
|
def default_frame(self): |
|
return "plane-elevrev" |
|
|
|
def apply_defaultfile_parameters(self): |
|
# plane passes in a defaults_file in place of applying |
|
# parameters afterwards. |
|
pass |
|
|
|
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 takeoff(self): |
|
"""Takeoff get to 30m altitude.""" |
|
|
|
self.mavproxy.send('switch 4\n') |
|
self.wait_mode('FBWA') |
|
|
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
|
|
# some rudder to counteract the prop torque |
|
self.set_rc(4, 1700) |
|
|
|
# some up elevator to keep the tail down |
|
self.set_rc(2, 1200) |
|
|
|
# get it moving a bit first |
|
self.set_rc(3, 1300) |
|
self.wait_groundspeed(6, 100) |
|
|
|
# a bit faster again, straighten rudder |
|
self.set_rc(3, 1600) |
|
self.set_rc(4, 1500) |
|
self.wait_groundspeed(12, 100) |
|
|
|
# hit the gas harder now, and give it some more elevator |
|
self.set_rc(2, 1100) |
|
self.set_rc(3, 2000) |
|
|
|
# gain a bit of altitude |
|
self.wait_altitude(self.homeloc.alt+150, |
|
self.homeloc.alt+180, |
|
timeout=30) |
|
|
|
# level off |
|
self.set_rc(2, 1500) |
|
|
|
self.progress("TAKEOFF COMPLETE") |
|
|
|
def fly_left_circuit(self): |
|
"""Fly a left circuit, 200m on a side.""" |
|
self.mavproxy.send('switch 4\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 2000) |
|
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") |
|
|
|
def fly_RTL(self): |
|
"""Fly to home.""" |
|
self.progress("Flying home in RTL") |
|
self.mavproxy.send('switch 2\n') |
|
self.wait_mode('RTL') |
|
self.wait_location(self.homeloc, |
|
accuracy=120, |
|
target_altitude=self.homeloc.alt+100, |
|
height_accuracy=20, |
|
timeout=180) |
|
self.progress("RTL Complete") |
|
|
|
def fly_LOITER(self, num_circles=4): |
|
"""Loiter where we are.""" |
|
self.progress("Testing LOITER for %u turns" % num_circles) |
|
self.mavproxy.send('loiter\n') |
|
self.wait_mode('LOITER') |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
initial_alt = m.alt |
|
self.progress("Initial altitude %u\n" % initial_alt) |
|
|
|
while num_circles > 0: |
|
self.wait_heading(0, accuracy=10, timeout=60) |
|
self.wait_heading(180, accuracy=10, timeout=60) |
|
num_circles -= 1 |
|
self.progress("Loiter %u circles left" % num_circles) |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
final_alt = m.alt |
|
self.progress("Final altitude %u initial %u\n" % |
|
(final_alt, initial_alt)) |
|
|
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
|
|
if abs(final_alt - initial_alt) > 20: |
|
raise NotAchievedException("Failed to maintain altitude") |
|
|
|
self.progress("Completed Loiter OK") |
|
|
|
def fly_CIRCLE(self, num_circles=1): |
|
"""Circle where we are.""" |
|
self.progress("Testing CIRCLE for %u turns" % num_circles) |
|
self.mavproxy.send('mode CIRCLE\n') |
|
self.wait_mode('CIRCLE') |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
initial_alt = m.alt |
|
self.progress("Initial altitude %u\n" % initial_alt) |
|
|
|
while num_circles > 0: |
|
self.wait_heading(0, accuracy=10, timeout=60) |
|
self.wait_heading(180, accuracy=10, timeout=60) |
|
num_circles -= 1 |
|
self.progress("CIRCLE %u circles left" % num_circles) |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
final_alt = m.alt |
|
self.progress("Final altitude %u initial %u\n" % |
|
(final_alt, initial_alt)) |
|
|
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
|
|
if abs(final_alt - initial_alt) > 20: |
|
raise NotAchievedException("Failed to maintain altitude") |
|
|
|
self.progress("Completed CIRCLE OK") |
|
|
|
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 change_altitude(self, altitude, accuracy=30): |
|
"""Get to a given altitude.""" |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
alt_error = self.mav.messages['VFR_HUD'].alt - altitude |
|
if alt_error > 0: |
|
self.set_rc(2, 2000) |
|
else: |
|
self.set_rc(2, 1000) |
|
self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2) |
|
self.set_rc(2, 1500) |
|
self.progress("Reached target altitude at %u" % |
|
self.mav.messages['VFR_HUD'].alt) |
|
return self.wait_level_flight() |
|
|
|
def axial_left_roll(self, count=1): |
|
"""Fly a left axial roll.""" |
|
# full throttle! |
|
self.set_rc(3, 2000) |
|
self.change_altitude(self.homeloc.alt+300) |
|
|
|
# fly the roll in manual |
|
self.mavproxy.send('switch 6\n') |
|
self.wait_mode('MANUAL') |
|
|
|
while count > 0: |
|
self.progress("Starting roll") |
|
self.set_rc(1, 1000) |
|
try: |
|
self.wait_roll(-150, accuracy=90) |
|
self.wait_roll(150, accuracy=90) |
|
self.wait_roll(0, accuracy=90) |
|
except Exception as e: |
|
self.set_rc(1, 1500) |
|
raise e |
|
count -= 1 |
|
|
|
# back to FBWA |
|
self.set_rc(1, 1500) |
|
self.mavproxy.send('switch 4\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
return self.wait_level_flight() |
|
|
|
def inside_loop(self, count=1): |
|
"""Fly a inside loop.""" |
|
# full throttle! |
|
self.set_rc(3, 2000) |
|
self.change_altitude(self.homeloc.alt+300) |
|
# fly the loop in manual |
|
self.mavproxy.send('switch 6\n') |
|
self.wait_mode('MANUAL') |
|
|
|
while count > 0: |
|
self.progress("Starting loop") |
|
self.set_rc(2, 1000) |
|
self.wait_pitch(-60, accuracy=20) |
|
self.wait_pitch(0, accuracy=20) |
|
count -= 1 |
|
|
|
# back to FBWA |
|
self.set_rc(2, 1500) |
|
self.mavproxy.send('switch 4\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
return self.wait_level_flight() |
|
|
|
def set_attitude_target(self, tolerance=10): |
|
"""Test setting of attitude target in guided mode.""" |
|
self.change_mode("GUIDED") |
|
# self.set_parameter("STALL_PREVENTION", 0) |
|
|
|
state_roll_over = "roll-over" |
|
state_stabilize_roll = "stabilize-roll" |
|
state_hold = "hold" |
|
state_roll_back = "roll-back" |
|
state_done = "done" |
|
|
|
tstart = self.get_sim_time() |
|
|
|
try: |
|
state = state_roll_over |
|
while state != state_done: |
|
|
|
m = self.mav.recv_match(type='ATTITUDE', |
|
blocking=True, |
|
timeout=0.1) |
|
now = self.get_sim_time_cached() |
|
if now - tstart > 20: |
|
raise AutoTestTimeoutException("Manuevers not completed") |
|
if m is None: |
|
continue |
|
|
|
r = math.degrees(m.roll) |
|
if state == state_roll_over: |
|
target_roll_degrees = 60 |
|
if abs(r - target_roll_degrees) < tolerance: |
|
state = state_stabilize_roll |
|
stabilize_start = now |
|
elif state == state_stabilize_roll: |
|
# just give it a little time to sort it self out |
|
if now - stabilize_start > 2: |
|
state = state_hold |
|
hold_start = now |
|
elif state == state_hold: |
|
target_roll_degrees = 60 |
|
if now - hold_start > tolerance: |
|
state = state_roll_back |
|
if abs(r - target_roll_degrees) > tolerance: |
|
raise NotAchievedException("Failed to hold attitude") |
|
elif state == state_roll_back: |
|
target_roll_degrees = 0 |
|
if abs(r - target_roll_degrees) < tolerance: |
|
state = state_done |
|
else: |
|
raise ValueError("Unknown state %s" % str(state)) |
|
|
|
m_nav = self.mav.messages['NAV_CONTROLLER_OUTPUT'] |
|
self.progress("%s Roll: %f desired=%f set=%f" % |
|
(state, r, m_nav.nav_roll, target_roll_degrees)) |
|
|
|
time_boot_millis = 0 # FIXME |
|
target_system = 1 # FIXME |
|
target_component = 1 # FIXME |
|
type_mask = 0b10000001 ^ 0xFF # FIXME |
|
# attitude in radians: |
|
q = quaternion.Quaternion([math.radians(target_roll_degrees), |
|
0, |
|
0]) |
|
roll_rate_radians = 0.5 |
|
pitch_rate_radians = 0 |
|
yaw_rate_radians = 0 |
|
thrust = 1.0 |
|
self.mav.mav.set_attitude_target_send(time_boot_millis, |
|
target_system, |
|
target_component, |
|
type_mask, |
|
q, |
|
roll_rate_radians, |
|
pitch_rate_radians, |
|
yaw_rate_radians, |
|
thrust) |
|
except Exception as e: |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
raise e |
|
|
|
# back to FBWA |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
self.wait_level_flight() |
|
|
|
def test_stabilize(self, count=1): |
|
"""Fly stabilize mode.""" |
|
# full throttle! |
|
self.set_rc(3, 2000) |
|
self.set_rc(2, 1300) |
|
self.change_altitude(self.homeloc.alt+300) |
|
self.set_rc(2, 1500) |
|
|
|
self.mavproxy.send("mode STABILIZE\n") |
|
self.wait_mode('STABILIZE') |
|
|
|
while count > 0: |
|
self.progress("Starting roll") |
|
self.set_rc(1, 2000) |
|
self.wait_roll(-150, accuracy=90) |
|
self.wait_roll(150, accuracy=90) |
|
self.wait_roll(0, accuracy=90) |
|
count -= 1 |
|
|
|
self.set_rc(1, 1500) |
|
self.wait_roll(0, accuracy=5) |
|
|
|
# back to FBWA |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
return self.wait_level_flight() |
|
|
|
def test_acro(self, count=1): |
|
"""Fly ACRO mode.""" |
|
# full throttle! |
|
self.set_rc(3, 2000) |
|
self.set_rc(2, 1300) |
|
self.change_altitude(self.homeloc.alt+300) |
|
self.set_rc(2, 1500) |
|
|
|
self.mavproxy.send("mode ACRO\n") |
|
self.wait_mode('ACRO') |
|
|
|
while count > 0: |
|
self.progress("Starting roll") |
|
self.set_rc(1, 1000) |
|
self.wait_roll(-150, accuracy=90) |
|
self.wait_roll(150, accuracy=90) |
|
self.wait_roll(0, accuracy=90) |
|
count -= 1 |
|
self.set_rc(1, 1500) |
|
|
|
# back to FBWA |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
|
|
self.wait_level_flight() |
|
|
|
self.mavproxy.send("mode ACRO\n") |
|
self.wait_mode('ACRO') |
|
|
|
count = 2 |
|
while count > 0: |
|
self.progress("Starting loop") |
|
self.set_rc(2, 1000) |
|
self.wait_pitch(-60, accuracy=20) |
|
self.wait_pitch(0, accuracy=20) |
|
count -= 1 |
|
|
|
self.set_rc(2, 1500) |
|
|
|
# back to FBWA |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
self.set_rc(3, 1700) |
|
return self.wait_level_flight() |
|
|
|
def test_FBWB(self, mode='FBWB'): |
|
"""Fly FBWB or CRUISE mode.""" |
|
self.mavproxy.send("mode %s\n" % mode) |
|
self.wait_mode(mode) |
|
self.set_rc(3, 1700) |
|
self.set_rc(2, 1500) |
|
|
|
# lock in the altitude by asking for an altitude change then releasing |
|
self.set_rc(2, 1000) |
|
self.wait_distance(50, accuracy=20) |
|
self.set_rc(2, 1500) |
|
self.wait_distance(50, accuracy=20) |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
initial_alt = m.alt |
|
self.progress("Initial altitude %u\n" % initial_alt) |
|
|
|
self.progress("Flying right circuit") |
|
# do 4 turns |
|
for i in range(0, 4): |
|
# hard left |
|
self.progress("Starting turn %u" % i) |
|
self.set_rc(1, 1800) |
|
try: |
|
self.wait_heading(0 + (90*i), accuracy=20, timeout=60) |
|
except Exception as e: |
|
self.set_rc(1, 1500) |
|
raise e |
|
self.set_rc(1, 1500) |
|
self.progress("Starting leg %u" % i) |
|
self.wait_distance(100, accuracy=20) |
|
self.progress("Circuit complete") |
|
|
|
self.progress("Flying rudder left circuit") |
|
# do 4 turns |
|
for i in range(0, 4): |
|
# hard left |
|
self.progress("Starting turn %u" % i) |
|
self.set_rc(4, 1900) |
|
try: |
|
self.wait_heading(360 - (90*i), accuracy=20, timeout=60) |
|
except Exception as e: |
|
self.set_rc(4, 1500) |
|
raise e |
|
self.set_rc(4, 1500) |
|
self.progress("Starting leg %u" % i) |
|
self.wait_distance(100, accuracy=20) |
|
self.progress("Circuit complete") |
|
|
|
m = self.mav.recv_match(type='VFR_HUD', blocking=True) |
|
final_alt = m.alt |
|
self.progress("Final altitude %u initial %u\n" % |
|
(final_alt, initial_alt)) |
|
|
|
# back to FBWA |
|
self.mavproxy.send('mode FBWA\n') |
|
self.wait_mode('FBWA') |
|
|
|
if abs(final_alt - initial_alt) > 20: |
|
raise NotAchievedException("Failed to maintain altitude") |
|
|
|
return self.wait_level_flight() |
|
|
|
def fly_mission(self, filename): |
|
"""Fly a mission from a file.""" |
|
self.progress("Flying mission %s" % filename) |
|
self.load_mission(filename) |
|
self.mavproxy.send('switch 1\n') # auto mode |
|
self.wait_mode('AUTO') |
|
self.wait_waypoint(1, 7, max_dist=60) |
|
self.wait_groundspeed(0, 0.5, timeout=60) |
|
self.mavproxy.expect("Auto disarmed") |
|
self.progress("Mission OK") |
|
|
|
def fly_flaps(self): |
|
"""Test flaps functionality.""" |
|
filename = os.path.join(testdir, "flaps.txt") |
|
self.context_push() |
|
ex = None |
|
try: |
|
flaps_ch = 5 |
|
servo_ch = 5 |
|
self.set_parameter("SERVO%u_FUNCTION" % servo_ch, 3) # flapsauto |
|
self.set_parameter("FLAP_IN_CHANNEL", flaps_ch) |
|
self.set_parameter("LAND_FLAP_PERCNT", 50) |
|
self.set_parameter("LOG_DISARMED", 1) |
|
flaps_ch_min = 1000 |
|
flaps_ch_trim = 1500 |
|
flaps_ch_max = 2000 |
|
self.set_parameter("RC%u_MIN" % flaps_ch, flaps_ch_min) |
|
self.set_parameter("RC%u_MAX" % flaps_ch, flaps_ch_max) |
|
self.set_parameter("RC%u_TRIM" % flaps_ch, flaps_ch_trim) |
|
|
|
servo_ch_min = 1200 |
|
servo_ch_trim = 1300 |
|
servo_ch_max = 1800 |
|
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_cached() - 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_throttle_failsafe(self): |
|
self.change_mode('MANUAL') |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
receiver_bit = mavutil.mavlink.MAV_SYS_STATUS_SENSOR_RC_RECEIVER |
|
self.progress("Testing receiver enabled") |
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)): |
|
raise PreconditionFailedException() |
|
self.progress("Testing receiver present") |
|
if (not (m.onboard_control_sensors_present & receiver_bit)): |
|
raise PreconditionFailedException() |
|
self.progress("Testing receiver health") |
|
if (not (m.onboard_control_sensors_health & receiver_bit)): |
|
raise PreconditionFailedException() |
|
|
|
self.progress("Ensure we know original throttle value") |
|
self.wait_rc_channel_value(3, 1000) |
|
|
|
self.set_parameter("THR_FS_VALUE", 960) |
|
self.progress("Failing receiver (throttle-to-950)") |
|
self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950 |
|
self.wait_mode('CIRCLE') # short failsafe |
|
self.wait_mode('RTL') # long failsafe |
|
self.progress("Ensure we've had our throttle squashed to 950") |
|
self.wait_rc_channel_value(3, 950) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
self.progress("Testing receiver enabled") |
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)): |
|
raise NotAchievedException("Receiver not enabled") |
|
self.progress("Testing receiver present") |
|
if (not (m.onboard_control_sensors_present & receiver_bit)): |
|
raise NotAchievedException("Receiver not present") |
|
# skip this until RC is fixed |
|
# self.progress("Testing receiver health") |
|
# if (m.onboard_control_sensors_health & receiver_bit): |
|
# raise NotAchievedException("Sensor healthy when it shouldn't be") |
|
self.set_parameter("SIM_RC_FAIL", 0) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
self.progress("Testing receiver enabled") |
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)): |
|
raise NotAchievedException("Receiver not enabled") |
|
self.progress("Testing receiver present") |
|
if (not (m.onboard_control_sensors_present & receiver_bit)): |
|
raise NotAchievedException("Receiver not present") |
|
self.progress("Testing receiver health") |
|
if (not (m.onboard_control_sensors_health & receiver_bit)): |
|
raise NotAchievedException("Receiver not healthy") |
|
self.change_mode('MANUAL') |
|
|
|
self.progress("Failing receiver (no-pulses)") |
|
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses |
|
self.wait_mode('CIRCLE') # short failsafe |
|
self.wait_mode('RTL') # long failsafe |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
print("%s" % str(m)) |
|
self.progress("Testing receiver enabled") |
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)): |
|
raise NotAchievedException("Receiver not enabled") |
|
self.progress("Testing receiver present") |
|
if (not (m.onboard_control_sensors_present & receiver_bit)): |
|
raise NotAchievedException("Receiver not present") |
|
self.progress("Testing receiver health") |
|
if (m.onboard_control_sensors_health & receiver_bit): |
|
raise NotAchievedException("Sensor healthy when it shouldn't be") |
|
self.progress("Making RC work again") |
|
self.set_parameter("SIM_RC_FAIL", 0) |
|
self.progress("Giving receiver time to recover") |
|
for i in range(1, 10): |
|
m = self.mav.recv_match(type='SYS_STATUS', blocking=True) |
|
self.progress("Testing receiver enabled") |
|
if (not (m.onboard_control_sensors_enabled & receiver_bit)): |
|
raise NotAchievedException("Receiver not enabled") |
|
self.progress("Testing receiver present") |
|
if (not (m.onboard_control_sensors_present & receiver_bit)): |
|
raise NotAchievedException("Receiver not present") |
|
self.progress("Testing receiver health") |
|
if (not (m.onboard_control_sensors_health & receiver_bit)): |
|
raise NotAchievedException("Receiver not healthy") |
|
self.change_mode('MANUAL') |
|
|
|
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 test_parachute(self): |
|
self.set_rc(9, 1000) |
|
self.set_parameter("CHUTE_ENABLED", 1) |
|
self.set_parameter("CHUTE_TYPE", 10) |
|
self.set_parameter("SERVO9_FUNCTION", 27) |
|
self.set_parameter("SIM_PARA_ENABLE", 1) |
|
self.set_parameter("SIM_PARA_PIN", 9) |
|
|
|
self.load_mission("plane-parachute-mission.txt") |
|
self.mavproxy.send("wp set 1\n") |
|
self.change_mode('AUTO') |
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
self.mavproxy.expect("BANG") |
|
self.disarm_vehicle(force=True) |
|
self.reboot_sitl() |
|
|
|
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 airspeed_autocal(self): |
|
self.progress("Ensure no AIRSPEED_AUTOCAL on ground") |
|
self.set_parameter("ARSPD_AUTOCAL", 1) |
|
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL', |
|
blocking=True, |
|
timeout=5) |
|
if m is not None: |
|
raise NotAchievedException("Got autocal on ground") |
|
mission_filepath = os.path.join(testdir, "flaps.txt") |
|
self.load_mission(mission_filepath) |
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
self.change_mode("AUTO") |
|
self.progress("Ensure AIRSPEED_AUTOCAL in air") |
|
m = self.mav.recv_match(type='AIRSPEED_AUTOCAL', |
|
blocking=True, |
|
timeout=5) |
|
self.mav.motors_disarmed_wait() |
|
|
|
def test_rangefinder(self): |
|
ex = None |
|
self.context_push() |
|
self.progress("Making sure we don't ordinarily get RANGEFINDER") |
|
try: |
|
m = self.mav.recv_match(type='RANGEFINDER', |
|
blocking=True, |
|
timeout=5) |
|
except Exception as e: |
|
print("Caught exception %s" % str(e)) |
|
|
|
if m is not None: |
|
raise NotAchievedException("Received unexpected RANGEFINDER msg") |
|
|
|
try: |
|
self.set_parameter("RNGFND1_TYPE", 1) |
|
self.set_parameter("RNGFND1_MIN_CM", 0) |
|
self.set_parameter("RNGFND1_MAX_CM", 4000) |
|
self.set_parameter("RNGFND1_PIN", 0) |
|
self.set_parameter("RNGFND1_SCALING", 12.12) |
|
|
|
self.reboot_sitl() |
|
|
|
'''ensure rangefinder gives height-above-ground''' |
|
self.load_mission("plane-gripper-mission.txt") # borrow this |
|
self.mavproxy.send("wp set 1\n") |
|
self.change_mode('AUTO') |
|
self.wait_ready_to_arm() |
|
self.arm_vehicle() |
|
home = self.poll_home_position() |
|
self.wait_altitude(10, 1000, timeout=30, relative=True) |
|
rf = self.mav.recv_match(type="RANGEFINDER", timeout=1, blocking=True) |
|
if rf is None: |
|
raise NotAchievedException("Did not receive rangefinder message") |
|
gpi = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True, timeout=1) |
|
if gpi is None: |
|
raise NotAchievedException("Did not receive GLOBAL_POSITION_INT message") |
|
if abs(rf.distance - gpi.relative_alt/1000.0) > 3: |
|
raise NotAchievedException("rangefinder alt (%s) disagrees with global-position-int.relative_alt (%s)" % (rf.distance, gpi.relative_alt/1000.0)) |
|
self.mavproxy.expect("Auto disarmed") |
|
|
|
self.progress("Ensure RFND messages in log") |
|
if not self.current_onboard_log_contains_message("RFND"): |
|
raise NotAchievedException("No RFND messages in log") |
|
|
|
except Exception as e: |
|
self.progress("Exception caught: %s" % str(e)) |
|
ex = e |
|
self.context_pop() |
|
self.reboot_sitl() |
|
if ex is not None: |
|
raise ex |
|
|
|
def rc_defaults(self): |
|
ret = super(AutoTestPlane, self).rc_defaults() |
|
ret[3] = 1000 |
|
ret[8] = 1800 |
|
return ret |
|
|
|
def default_mode(self): |
|
return "MANUAL" |
|
|
|
def test_pid_tuning(self): |
|
self.change_mode("FBWA") # we don't update PIDs in MANUAL |
|
super(AutoTestPlane, self).test_pid_tuning() |
|
|
|
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), |
|
|
|
("ThrottleFailsafe", |
|
"Fly throttle failsafe", |
|
self.test_throttle_failsafe), |
|
|
|
("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), |
|
|
|
("Parachute", "Test Parachute", self.test_parachute), |
|
|
|
("AIRSPEED_AUTOCAL", "Test AIRSPEED_AUTOCAL", self.airspeed_autocal), |
|
|
|
("RangeFinder", |
|
"Test RangeFinder Basic Functionality", |
|
self.test_rangefinder), |
|
|
|
("LogDownLoad", |
|
"Log download", |
|
lambda: self.log_download( |
|
self.buildlogs_path("ArduPlane-log.bin"), |
|
timeout=450, |
|
upload_logs=True)) |
|
]) |
|
return ret
|
|
|