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190 lines
6.7 KiB
190 lines
6.7 KiB
#!/usr/bin/env python |
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# Fly ArduPlane QuadPlane in SITL |
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from __future__ import print_function |
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import os |
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import pexpect |
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from pymavlink import mavutil |
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from common import AutoTest |
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from pysim import util |
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# get location of scripts |
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testdir = os.path.dirname(os.path.realpath(__file__)) |
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HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7) |
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MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt' |
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FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt' |
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WIND = "0,180,0.2" # speed,direction,variance |
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class AutoTestQuadPlane(AutoTest): |
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def __init__(self, |
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binary, |
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valgrind=False, |
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gdb=False, |
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speedup=10, |
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frame=None, |
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params=None, |
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gdbserver=False, |
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breakpoints=[], |
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**kwargs): |
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super(AutoTestQuadPlane, self).__init__(**kwargs) |
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self.binary = binary |
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self.valgrind = valgrind |
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self.gdb = gdb |
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self.frame = frame |
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self.params = params |
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self.gdbserver = gdbserver |
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self.breakpoints = breakpoints |
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self.home = "%f,%f,%u,%u" % (HOME.lat, |
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HOME.lng, |
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HOME.alt, |
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HOME.heading) |
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self.homeloc = None |
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self.speedup = speedup |
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self.log_name = "QuadPlane" |
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self.logfile = None |
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self.buildlog = None |
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self.copy_tlog = False |
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self.sitl = None |
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self.hasInit = False |
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def init(self): |
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if self.frame is None: |
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self.frame = 'quadplane' |
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defaults_file = os.path.join(testdir, 'default_params/quadplane.parm') |
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self.sitl = util.start_SITL(self.binary, |
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wipe=True, |
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model=self.frame, |
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home=self.home, |
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speedup=self.speedup, |
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defaults_file=defaults_file, |
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valgrind=self.valgrind, |
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gdb=self.gdb, |
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gdbserver=self.gdbserver, |
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breakpoints=self.breakpoints, |
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) |
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self.mavproxy = util.start_MAVProxy_SITL( |
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'QuadPlane', options=self.mavproxy_options()) |
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self.mavproxy.expect('Telemetry log: (\S+)\r\n') |
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logfile = self.mavproxy.match.group(1) |
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self.progress("LOGFILE %s" % logfile) |
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buildlog = self.buildlogs_path("QuadPlane-test.tlog") |
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self.progress("buildlog=%s" % buildlog) |
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if os.path.exists(buildlog): |
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os.unlink(buildlog) |
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try: |
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os.link(logfile, buildlog) |
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except Exception: |
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pass |
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self.mavproxy.expect('Received [0-9]+ parameters') |
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util.expect_setup_callback(self.mavproxy, self.expect_callback) |
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self.expect_list_clear() |
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self.expect_list_extend([self.sitl, self.mavproxy]) |
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self.progress("Started simulator") |
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# get a mavlink connection going |
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connection_string = '127.0.0.1:19550' |
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try: |
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self.mav = mavutil.mavlink_connection(connection_string, |
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robust_parsing=True) |
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except Exception as msg: |
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self.progress("Failed to start mavlink connection on %s: %s" % |
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(connection_string, msg)) |
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raise |
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self.mav.message_hooks.append(self.message_hook) |
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self.mav.idle_hooks.append(self.idle_hook) |
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self.hasInit = True |
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self.progress("Ready to start testing!") |
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# def test_arm_motors_radio(self): |
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# super(AutotestQuadPlane, self).test_arm_motors_radio() |
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# |
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# def test_disarm_motors_radio(self): |
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# super(AutotestQuadPlane, self).test_disarm_motors_radio() |
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# |
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# def test_autodisarm_motors(self): |
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# super(AutotestQuadPlane, self).test_autodisarm_motors() |
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# |
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# def test_rtl(self, home, distance_min=10, timeout=250): |
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# super(AutotestQuadPlane, self).test_rtl(home, |
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# distance_min=10, timeout=250) |
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# |
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# def test_throttle_failsafe(self, home, distance_min=10, |
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# side=60, timeout=180): |
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# super(AutotestQuadPlane, self).test_throttle_failsafe(home, |
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# distance_min=10, side=60, timeout=180) |
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# |
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# def test_mission(self, filename): |
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# super(AutotestQuadPlane, self).test_mission(filename) |
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def fly_mission(self, filename, fence, height_accuracy=-1): |
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"""Fly a mission from a file.""" |
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self.progress("Flying mission %s" % filename) |
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self.mavproxy.send('wp load %s\n' % filename) |
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self.mavproxy.expect('Flight plan received') |
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self.mavproxy.send('fence load %s\n' % fence) |
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self.mavproxy.send('wp list\n') |
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self.mavproxy.expect('Requesting [0-9]+ waypoints') |
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self.mavproxy.send('mode AUTO\n') |
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self.wait_mode('AUTO') |
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self.wait_waypoint(1, 19, max_dist=60, timeout=1200) |
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self.mavproxy.expect('DISARMED') |
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# wait for blood sample here |
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self.mavproxy.send('wp set 20\n') |
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self.arm_vehicle() |
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self.wait_waypoint(20, 34, max_dist=60, timeout=1200) |
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self.mavproxy.expect('DISARMED') |
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self.progress("Mission OK") |
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def autotest(self): |
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"""Autotest QuadPlane in SITL.""" |
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if not self.hasInit: |
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self.init() |
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self.fail_list = [] |
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try: |
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self.progress("Waiting for a heartbeat with mavlink protocol %s" |
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% self.mav.WIRE_PROTOCOL_VERSION) |
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self.mav.wait_heartbeat() |
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self.progress("Waiting for GPS fix") |
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self.mav.recv_match(condition='VFR_HUD.alt>10', blocking=True) |
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self.mav.wait_gps_fix() |
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while self.mav.location().alt < 10: |
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self.mav.wait_gps_fix() |
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self.homeloc = self.mav.location() |
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self.progress("Home location: %s" % self.homeloc) |
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# wait for EKF and GPS checks to pass |
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self.progress("Waiting reading for arm") |
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self.wait_seconds(30) |
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self.arm_vehicle() |
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m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt") |
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f = os.path.join(testdir, |
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"ArduPlane-Missions/Dalby-OBC2016-fence.txt") |
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self.run_test("Mission", lambda: self.fly_mission(m, f)) |
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except pexpect.TIMEOUT as e: |
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self.progress("Failed with timeout") |
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self.fail_list.append("Failed with timeout") |
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self.close() |
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if len(self.fail_list): |
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self.progress("FAILED: %s" % self.fail_list) |
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return False |
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return True
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