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364 lines
11 KiB
364 lines
11 KiB
# fly ArduCopter in SIL |
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import util, pexpect, sys, time, math, shutil, os |
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from common import * |
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# get location of scripts |
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testdir=os.path.dirname(os.path.realpath(__file__)) |
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sys.path.insert(0, util.reltopdir('../pymavlink')) |
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import mavutil, mavwp |
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HOME_LOCATION='-35.362938,149.165085,584,270' |
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homeloc = None |
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num_wp = 0 |
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def arm_motors(mavproxy, mav): |
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'''arm motors''' |
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print("Arming motors") |
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mavproxy.send('switch 6\n') # stabilize mode |
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wait_mode(mav, 'STABILIZE') |
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mavproxy.send('rc 3 1000\n') |
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mavproxy.send('rc 4 2000\n') |
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mavproxy.expect('APM: ARMING MOTORS') |
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mavproxy.send('rc 4 1500\n') |
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print("MOTORS ARMED OK") |
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return True |
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def disarm_motors(mavproxy, mav): |
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'''disarm motors''' |
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print("Disarming motors") |
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mavproxy.send('switch 6\n') # stabilize mode |
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mavproxy.send('rc 3 1000\n') |
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mavproxy.send('rc 4 1000\n') |
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mavproxy.expect('APM: DISARMING MOTORS') |
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mavproxy.send('rc 4 1500\n') |
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print("MOTORS DISARMED OK") |
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return True |
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def takeoff(mavproxy, mav): |
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'''takeoff get to 30m altitude''' |
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mavproxy.send('switch 6\n') # stabilize mode |
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wait_mode(mav, 'STABILIZE') |
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mavproxy.send('rc 3 1500\n') |
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wait_altitude(mav, 30, 40) |
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print("TAKEOFF COMPLETE") |
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return True |
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def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60): |
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'''hold loiter position''' |
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mavproxy.send('switch 5\n') # loiter mode |
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wait_mode(mav, 'LOITER') |
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m = mav.recv_match(type='VFR_HUD', blocking=True) |
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start_altitude = m.alt |
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tstart = time.time() |
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tholdstart = time.time() |
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print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime)) |
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while time.time() < tstart + timeout: |
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m = mav.recv_match(type='VFR_HUD', blocking=True) |
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print("Altitude %u" % m.alt) |
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if math.fabs(m.alt - start_altitude) > maxaltchange: |
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tholdstart = time.time() |
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if time.time() - tholdstart > holdtime: |
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print("Loiter OK for %u seconds" % holdtime) |
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return True |
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print("Loiter FAILED") |
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return False |
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def fly_square(mavproxy, mav, side=50, timeout=120): |
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'''fly a square, flying N then E''' |
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mavproxy.send('switch 6\n') |
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wait_mode(mav, 'STABILIZE') |
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tstart = time.time() |
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failed = False |
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print("Save WP 1") |
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save_wp(mavproxy, mav) |
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print("turn") |
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mavproxy.send('rc 3 1430\n') |
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mavproxy.send('rc 4 1610\n') |
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if not wait_heading(mav, 0): |
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return False |
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mavproxy.send('rc 4 1500\n') |
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print("Going north %u meters" % side) |
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mavproxy.send('rc 2 1390\n') |
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if not wait_distance(mav, side): |
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failed = True |
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mavproxy.send('rc 2 1500\n') |
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print("Save WP 2") |
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save_wp(mavproxy, mav) |
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print("Going east %u meters" % side) |
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mavproxy.send('rc 1 1610\n') |
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if not wait_distance(mav, side): |
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failed = True |
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mavproxy.send('rc 1 1500\n') |
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print("Save WP 3") |
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save_wp(mavproxy, mav) |
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print("Going south %u meters" % side) |
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mavproxy.send('rc 2 1610\n') |
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if not wait_distance(mav, side): |
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failed = True |
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mavproxy.send('rc 2 1500\n') |
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True) |
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print("Save WP 4") |
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save_wp(mavproxy, mav) |
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print("Going west %u meters" % side) |
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mavproxy.send('rc 1 1390\n') |
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if not wait_distance(mav, side): |
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failed = True |
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mavproxy.send('rc 1 1500\n') |
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print("Save WP 5") |
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save_wp(mavproxy, mav) |
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return not failed |
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def land(mavproxy, mav, timeout=60): |
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'''land the quad''' |
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print("STARTING LANDING") |
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mavproxy.send('switch 6\n') |
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wait_mode(mav, 'STABILIZE') |
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# start by dropping throttle till we have lost 5m |
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mavproxy.send('rc 3 1380\n') |
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m = mav.recv_match(type='VFR_HUD', blocking=True) |
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wait_altitude(mav, 0, m.alt-5) |
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# now let it settle gently |
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mavproxy.send('rc 3 1400\n') |
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tstart = time.time() |
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ret = wait_altitude(mav, -5, 0) |
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print("LANDING: ok=%s" % ret) |
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return ret |
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def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35): |
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'''fly circle''' |
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print("FLY CIRCLE") |
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mavproxy.send('switch 1\n') # CIRCLE mode |
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wait_mode(mav, 'CIRCLE') |
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m = mav.recv_match(type='VFR_HUD', blocking=True) |
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start_altitude = m.alt |
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tstart = time.time() |
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tholdstart = time.time() |
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print("Circle at %u meters for %u seconds" % (start_altitude, holdtime)) |
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while time.time() < tstart + timeout: |
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m = mav.recv_match(type='VFR_HUD', blocking=True) |
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print("heading %u" % m.heading) |
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print("CIRCLE OK for %u seconds" % holdtime) |
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return True |
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def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None): |
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'''fly a mission from a file''' |
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global homeloc |
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global num_wp |
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print("test: Fly a mission from 0 to %u" % num_wp) |
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mavproxy.send('wp set 0\n') |
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mavproxy.send('switch 4\n') # auto mode |
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wait_mode(mav, 'AUTO') |
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#wait_altitude(mav, 30, 40) |
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ret = wait_waypoint(mav, 0, num_wp, timeout=500) |
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print("test: MISSION COMPLETE: passed=%s" % ret) |
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# wait here until ready |
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mavproxy.send('switch 5\n') |
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wait_mode(mav, 'LOITER') |
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return ret |
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#if not wait_distance(mav, 30, timeout=120): |
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# return False |
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#if not wait_location(mav, homeloc, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy): |
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# return False |
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def load_mission_from_file(mavproxy, mav, filename): |
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'''load a mission from a file''' |
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global num_wp |
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wploader = mavwp.MAVWPLoader() |
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wploader.load(filename) |
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num_wp = wploader.count() |
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print("loaded mission with %u waypoints" % num_wp) |
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return True |
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def upload_mission_from_file(mavproxy, mav, filename): |
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'''Upload a mission from a file to APM''' |
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global num_wp |
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mavproxy.send('wp load %s\n' % filename) |
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mavproxy.expect('flight plan received') |
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mavproxy.send('wp list\n') |
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mavproxy.expect('Requesting [0-9]+ waypoints') |
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return True |
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def save_mission_to_file(mavproxy, mav, filename): |
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global num_wp |
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mavproxy.send('wp save %s\n' % filename) |
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mavproxy.expect('Saved ([0-9]+) waypoints') |
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num_wp = int(mavproxy.match.group(1)) |
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print("num_wp: %d" % num_wp) |
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return True |
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def setup_rc(mavproxy): |
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'''setup RC override control''' |
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for chan in range(1,9): |
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mavproxy.send('rc %u 1500\n' % chan) |
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# zero throttle |
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mavproxy.send('rc 3 1000\n') |
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def fly_ArduCopter(viewerip=None): |
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'''fly ArduCopter in SIL |
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you can pass viewerip as an IP address to optionally send fg and |
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mavproxy packets too for local viewing of the flight in real time |
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''' |
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global expect_list, homeloc |
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sil = util.start_SIL('ArduCopter', wipe=True) |
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mavproxy = util.start_MAVProxy_SIL('ArduCopter') |
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mavproxy.expect('Please Run Setup') |
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# we need to restart it after eeprom erase |
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util.pexpect_close(mavproxy) |
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util.pexpect_close(sil) |
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sil = util.start_SIL('ArduCopter') |
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter') |
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mavproxy.expect('Received [0-9]+ parameters') |
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# setup test parameters |
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mavproxy.send("param load %s/ArduCopter.parm\n" % testdir) |
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mavproxy.expect('Loaded [0-9]+ parameters') |
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# reboot with new parameters |
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util.pexpect_close(mavproxy) |
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util.pexpect_close(sil) |
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sil = util.start_SIL('ArduCopter') |
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options = '--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=1' |
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if viewerip: |
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options += ' --out=%s:14550' % viewerip |
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mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options) |
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mavproxy.expect('Logging to (\S+)') |
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logfile = mavproxy.match.group(1) |
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print("LOGFILE %s" % logfile) |
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buildlog = util.reltopdir("../buildlogs/ArduCopter-test.mavlog") |
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print("buildlog=%s" % buildlog) |
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if os.path.exists(buildlog): |
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os.unlink(buildlog) |
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os.link(logfile, buildlog) |
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mavproxy.expect("Ready to FLY") |
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mavproxy.expect('Received [0-9]+ parameters') |
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util.expect_setup_callback(mavproxy, expect_callback) |
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# start hil_quad.py |
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cmd = util.reltopdir('../HILTest/hil_quad.py') + ' --fgrate=200 --home=%s' % HOME_LOCATION |
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if viewerip: |
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cmd += ' --fgout=192.168.2.15:9123' |
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hquad = pexpect.spawn(cmd, logfile=sys.stdout, timeout=10) |
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util.pexpect_autoclose(hquad) |
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hquad.expect('Starting at') |
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expect_list.extend([hquad, sil, mavproxy]) |
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# get a mavlink connection going |
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try: |
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mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True) |
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except Exception, msg: |
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print("Failed to start mavlink connection on 127.0.0.1:19550" % msg) |
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raise |
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mav.message_hooks.append(message_hook) |
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failed = False |
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e = 'None' |
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try: |
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mav.wait_heartbeat() |
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mav.recv_match(type='GPS_RAW', blocking=True) |
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setup_rc(mavproxy) |
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homeloc = current_location(mav) |
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if not arm_motors(mavproxy, mav): |
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failed = True |
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if not takeoff(mavproxy, mav): |
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failed = True |
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print("# Fly A square") |
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if not fly_square(mavproxy, mav): |
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failed = True |
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# save the stored mission |
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print("# Save out the C7 mission") |
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if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")): |
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failed = True |
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# Loiter for 10 seconds |
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print("# Loiter for 10 seconds") |
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if not loiter(mavproxy, mav): |
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failed = True |
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#Fly a circle for 60 seconds |
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print("# Fly a Circle") |
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if not circle(mavproxy, mav): |
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failed = True |
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# save the stored mission |
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print("# Fly CH 7 saved mission") |
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): |
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failed = True |
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print("# Upload mission1") |
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if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")): |
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failed = True |
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# this grabs our mission count |
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print("# store mission1 locally") |
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if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission2.txt")): |
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failed = True |
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print("# Fly mission 2") |
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if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): |
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failed = True |
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else: |
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print("Flew mission2 OK") |
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print("# Land") |
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if not land(mavproxy, mav): |
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failed = True |
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print("# disarm motors") |
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if not disarm_motors(mavproxy, mav): |
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failed = True |
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except pexpect.TIMEOUT, e: |
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failed = True |
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util.pexpect_close(mavproxy) |
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util.pexpect_close(sil) |
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util.pexpect_close(hquad) |
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if os.path.exists('ArduCopter-valgrind.log'): |
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os.chmod('ArduCopter-valgrind.log', 0644) |
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shutil.copy("ArduCopter-valgrind.log", util.reltopdir("../buildlogs/ArduCopter-valgrind.log")) |
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if failed: |
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print("FAILED: %s" % e) |
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return False |
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return True
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