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autotest: added CopterAVC test 

this will test the copter code for the AVC2013 mission
master
Andrew Tridgell 12 years ago
parent
6036e7f538
commit
a900226ff7
4 changed files with 222 additions and 3 deletions
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  1. 8
      Tools/autotest/AVC2013.txt
  2. 68
      Tools/autotest/CopterAVC.parm
  3. 133
      Tools/autotest/arducopter.py
  4. 16
      Tools/autotest/autotest.py

8
Tools/autotest/AVC2013.txt
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@ -0,0 +1,8 @@ @@ -0,0 +1,8 @@
QGC WPL 110
0 1 0 16 0 0 0 0 40.072842 -105.230575 0.000000 1
1 0 3 22 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 10.000000 1
2 0 3 16 10.000000 0.000000 0.000000 0.000000 40.075691 -105.232287 20.000000 1
3 0 3 203 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1
4 0 3 16 1.000000 0.000000 0.000000 0.000000 40.072670 -105.231257 20.000000 1
5 0 3 16 1.000000 0.000000 0.000000 0.000000 40.072670 -105.231257 3.000000 1
6 0 3 21 0.000000 0.000000 0.000000 0.000000 40.072846 -105.230575 0.000000 1

68
Tools/autotest/CopterAVC.parm
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@ -0,0 +1,68 @@ @@ -0,0 +1,68 @@
WPNAV_SPEED 1000
WPNAV_SPEED_UP 500
WPNAV_SPEED_DN 300
WP_YAW_BEHAVIOR 0
FRAME 0
MAG_ENABLE 1
LOG_BITMASK 4095
FS_THR_ENABLE 1
COMPASS_LEARN 0
COMPASS_OFS_X 5
COMPASS_OFS_Y 13
COMPASS_OFS_Z -18
RC1_MAX 2000.000000
RC1_MIN 1000.000000
RC1_TRIM 1500.000000
RC2_MAX 2000.000000
RC2_MIN 1000.000000
RC2_TRIM 1500.000000
RC3_MAX 2000.000000
RC3_MIN 1000.000000
RC3_TRIM 1500.000000
RC4_MAX 2000.000000
RC4_MIN 1000.000000
RC4_TRIM 1500.000000
RC5_MAX 2000.000000
RC5_MIN 1000.000000
RC5_TRIM 1500.000000
RC6_MAX 2000.000000
RC6_MIN 1000.000000
RC6_TRIM 1500.000000
RC7_MAX 2000.000000
RC7_MIN 1000.000000
RC7_TRIM 1500.000000
RC8_MAX 2000.000000
RC8_MIN 1000.000000
RC8_TRIM 1500.000000
FLTMODE1 7
FLTMODE2 9
FLTMODE3 6
FLTMODE4 3
FLTMODE5 5
FLTMODE6 0
SUPER_SIMPLE 0
RTL_ALT_FINAL 0
SIM_GPS_DELAY 2
SIM_ACC_RND 0
SIM_GYR_RND 0
SIM_WIND_SPD 0
SIM_WIND_TURB 0
SIM_BARO_RND 0
SIM_MAG_RND 0
# flightmodes
# switch 1 Circle
# switch 2 LAND
# switch 3 RTL
# switch 4 Auto
# switch 5 Loiter
# switch 6 Stab
# STABILIZE 0 !
# ACRO 1
# ALT_HOLD 2
# AUTO 3 !
# GUIDED 4
# LOITER 5 !
# RTL 6 !
# CIRCLE 7 !
# POSITION 8
# LAND 9 !

133
Tools/autotest/arducopter.py
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@ -10,6 +10,7 @@ testdir=os.path.dirname(os.path.realpath(__file__)) @@ -10,6 +10,7 @@ testdir=os.path.dirname(os.path.realpath(__file__))
FRAME='+'
TARGET='sitl'
HOME=mavutil.location(-35.362938,149.165085,584,270)
AVCHOME=mavutil.location(40.072842,-105.230575,1586,0)
homeloc = None
num_wp = 0
@ -34,6 +35,7 @@ def arm_motors(mavproxy, mav): @@ -34,6 +35,7 @@ def arm_motors(mavproxy, mav):
mavproxy.send('rc 4 2000\n')
mavproxy.expect('APM: ARMING MOTORS')
mavproxy.send('rc 4 1500\n')
mav.motors_armed_wait()
print("MOTORS ARMED OK")
return True
@ -45,6 +47,7 @@ def disarm_motors(mavproxy, mav): @@ -45,6 +47,7 @@ def disarm_motors(mavproxy, mav):
mavproxy.send('rc 4 1000\n')
mavproxy.expect('APM: DISARMING MOTORS')
mavproxy.send('rc 4 1500\n')
mav.motors_disarmed_wait()
print("MOTORS DISARMED OK")
return True
@ -547,7 +550,7 @@ def fly_ArduCopter(viewerip=None, map=False): @@ -547,7 +550,7 @@ def fly_ArduCopter(viewerip=None, map=False):
if viewerip:
options += ' --out=%s:14550' % viewerip
if map:
options += ' --map --console'
options += ' --map'
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
@ -775,3 +778,131 @@ def fly_ArduCopter(viewerip=None, map=False): @@ -775,3 +778,131 @@ def fly_ArduCopter(viewerip=None, map=False):
print("FAILED: %s" % e)
return False
return True
def fly_CopterAVC(viewerip=None, map=False):
'''fly ArduCopter in SIL for AVC2013 mission
'''
global homeloc
if TARGET != 'sitl':
util.build_SIL('ArduCopter', target=TARGET)
sim_cmd = util.reltopdir('Tools/autotest/pysim/sim_multicopter.py') + ' --frame=%s --rate=400 --home=%f,%f,%u,%u' % (
FRAME, AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
if viewerip:
sim_cmd += ' --fgout=%s:5503' % viewerip
sil = util.start_SIL('ArduCopter', wipe=True)
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
mavproxy.send('param set SYSID_THISMAV %u\n' % random.randint(100, 200))
mavproxy.send("param load %s/CopterAVC.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduCopter', height=HOME.alt)
sim = pexpect.spawn(sim_cmd, logfile=sys.stdout, timeout=10)
sim.delaybeforesend = 0
util.pexpect_autoclose(sim)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if map:
options += ' --map'
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
mavproxy.expect('Logging to (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
os.link(logfile, buildlog)
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sim, sil, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception, msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
e = 'None'
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("# Calibrate level")
if not calibrate_level(mavproxy, mav):
print("calibrate_level failed")
failed = True
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
print("arm_motors failed")
failed = True
# Fly mission #1
print("# Upload AVC mission")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "AVC2013.txt")):
print("upload_mission_from_file failed")
failed = True
# this grabs our mission count
print("# store mission1 locally")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "AVC2013.txt")):
print("load_mission_from_file failed")
failed = True
print("# raising throttle")
mavproxy.send('rc 3 1300\n')
print("# Fly mission 1")
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
print("fly_mission failed")
failed = True
else:
print("Flew mission 1 OK")
print("# lowering throttle")
mavproxy.send('rc 3 1000\n')
#mission includes LAND at end so should be ok to disamr
print("# disarm motors")
if not disarm_motors(mavproxy, mav):
print("disarm_motors failed")
failed = True
except pexpect.TIMEOUT, e:
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
util.pexpect_close(sim)
if failed:
print("FAILED: %s" % e)
return False
return True

16
Tools/autotest/autotest.py
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@ -35,11 +35,15 @@ def get_default_params(atype): @@ -35,11 +35,15 @@ def get_default_params(atype):
print("Saved defaults for %s to %s" % (atype, dest))
return True
def dump_logs(atype):
def dump_logs(atype, logname=None):
'''dump DataFlash logs'''
print("Dumping logs for %s" % atype)
if logname is None:
logname = atype
sil = util.start_SIL(atype)
logfile = util.reltopdir('../buildlogs/%s.flashlog' % atype)
logfile = util.reltopdir('../buildlogs/%s.flashlog' % logname)
log = open(logfile, mode='w')
mavproxy = util.start_MAVProxy_SIL(atype, setup=True, logfile=log)
mavproxy.send('\n\n\n')
@ -190,6 +194,8 @@ steps = [ @@ -190,6 +194,8 @@ steps = [
'defaults.ArduCopter',
'fly.ArduCopter',
'logs.ArduCopter',
'fly.CopterAVC',
'logs.CopterAVC',
'convertgpx',
]
@ -259,12 +265,18 @@ def run_step(step): @@ -259,12 +265,18 @@ def run_step(step):
if step == 'logs.ArduCopter':
return dump_logs('ArduCopter')
if step == 'logs.CopterAVC':
return dump_logs('ArduCopter', 'CopterAVC')
if step == 'logs.APMrover2':
return dump_logs('APMrover2')
if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(viewerip=opts.viewerip, map=opts.map)
if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(viewerip=opts.viewerip, map=opts.map)
if step == 'fly.ArduPlane':
return arduplane.fly_ArduPlane(viewerip=opts.viewerip, map=opts.map)

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