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zr-v4/Tools/autotest/apmrover2.py

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#!/usr/bin/env python
# Drive APMrover2 in SITL
from __future__ import print_function
import os
import time
from common import AutoTest
from common import AutoTestTimeoutException
from common import MsgRcvTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from pymavlink import mavutil
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(40.071374969556928,
-105.22978898137808,
1583.702759,
246)
class AutoTestRover(AutoTest):
@staticmethod
def get_not_armable_mode_list():
return []
@staticmethod
def get_not_disarmed_settable_modes_list():
return ["FOLLOW"]
@staticmethod
def get_no_position_not_settable_modes_list():
return []
@staticmethod
def get_position_armable_modes_list():
return ["GUIDED", "LOITER", "STEERING", "AUTO", "RTL", "SMART_RTL"]
@staticmethod
def get_normal_armable_modes_list():
return ["ACRO", "HOLD", "MANUAL"]
def log_name(self):
return "APMrover2"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def default_frame(self):
return "rover"
def is_rover(self):
return True
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_ROLL"))
def arming_test_mission(self):
return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt")
##########################################################
# TESTS DRIVE
##########################################################
# Drive a square in manual mode
def drive_square(self, side=50):
"""Drive a square, Driving N then E ."""
self.context_push()
ex = None
try:
self.progress("TEST SQUARE")
self.set_parameter("RC7_OPTION", 7)
self.set_parameter("RC9_OPTION", 58)
self.mavproxy.send('switch 5\n')
self.wait_mode('MANUAL')
self.wait_ready_to_arm()
self.arm_vehicle()
self.clear_wp(9)
# first aim north
self.progress("\nTurn right towards north")
self.reach_heading_manual(10)
# save bottom left corner of box as home AND waypoint
self.progress("Save HOME")
self.save_wp()
self.progress("Save WP")
self.save_wp()
# pitch forward to fly north
self.progress("\nGoing north %u meters" % side)
self.reach_distance_manual(side)
# save top left corner of square as waypoint
self.progress("Save WP")
self.save_wp()
# roll right to fly east
self.progress("\nGoing east %u meters" % side)
self.reach_heading_manual(100)
self.reach_distance_manual(side)
# save top right corner of square as waypoint
self.progress("Save WP")
self.save_wp()
# pitch back to fly south
self.progress("\nGoing south %u meters" % side)
self.reach_heading_manual(190)
self.reach_distance_manual(side)
# save bottom right corner of square as waypoint
self.progress("Save WP")
self.save_wp()
# roll left to fly west
self.progress("\nGoing west %u meters" % side)
self.reach_heading_manual(280)
self.reach_distance_manual(side)
# save bottom left corner of square (should be near home) as waypoint
self.progress("Save WP")
self.save_wp()
self.progress("Checking number of saved waypoints")
num_wp = self.save_mission_to_file(
os.path.join(testdir, "rover-ch7_mission.txt"))
expected = 7 # home + 6 toggled in
if num_wp != expected:
raise NotAchievedException("Did not get %u waypoints; got %u" %
(expected, num_wp))
# TODO: actually drive the mission
self.clear_wp(9)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.disarm_vehicle()
self.context_pop()
if ex:
raise ex
def drive_left_circuit(self):
"""Drive a left circuit, 50m on a side."""
self.mavproxy.send('switch 6\n')
self.wait_mode('MANUAL')
self.set_rc(3, 2000)
self.progress("Driving 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(50, accuracy=7)
self.set_rc(3, 1500)
self.progress("Circuit complete")
# def test_throttle_failsafe(self, home, distance_min=10, side=60,
# timeout=300):
# """Fly east, Failsafe, return, land."""
#
# self.mavproxy.send('switch 6\n') # manual mode
# self.wait_mode('MANUAL')
# self.mavproxy.send("param set FS_ACTION 1\n")
#
# # first aim east
# self.progress("turn east")
# if not self.reach_heading_manual(135):
# return False
#
# # fly east 60 meters
# self.progress("# Going forward %u meters" % side)
# if not self.reach_distance_manual(side):
# return False
#
# # pull throttle low
# self.progress("# Enter Failsafe")
# self.mavproxy.send('rc 3 900\n')
#
# tstart = self.get_sim_time()
# success = False
# while self.get_sim_time() < tstart + timeout and not success:
# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
# pos = self.mav.location()
# home_distance = self.get_distance(home, pos)
# self.progress("Alt: %u HomeDistance: %.0f" %
# (m.alt, home_distance))
# # check if we've reached home
# if home_distance <= distance_min:
# self.progress("RTL Complete")
# success = True
#
# # reduce throttle
# self.mavproxy.send('rc 3 1500\n')
# self.mavproxy.expect('APM: Failsafe ended')
# self.mavproxy.send('switch 2\n') # manual mode
# self.wait_heartbeat()
# self.wait_mode('MANUAL')
#
# if success:
# self.progress("Reached failsafe home OK")
# return True
# else:
# self.progress("Failed to reach Home on failsafe RTL - "
# "timed out after %u seconds" % timeout)
# return False
def test_sprayer(self):
"""Test sprayer functionality."""
self.context_push()
ex = None
try:
rc_ch = 5
pump_ch = 5
spinner_ch = 6
pump_ch_min = 1050
pump_ch_trim = 1520
pump_ch_max = 1950
spinner_ch_min = 975
spinner_ch_trim = 1510
spinner_ch_max = 1975
self.set_parameter("SPRAY_ENABLE", 1)
self.set_parameter("SERVO%u_FUNCTION" % pump_ch, 22)
self.set_parameter("SERVO%u_MIN" % pump_ch, pump_ch_min)
self.set_parameter("SERVO%u_TRIM" % pump_ch, pump_ch_trim)
self.set_parameter("SERVO%u_MAX" % pump_ch, pump_ch_max)
self.set_parameter("SERVO%u_FUNCTION" % spinner_ch, 23)
self.set_parameter("SERVO%u_MIN" % spinner_ch, spinner_ch_min)
self.set_parameter("SERVO%u_TRIM" % spinner_ch, spinner_ch_trim)
self.set_parameter("SERVO%u_MAX" % spinner_ch, spinner_ch_max)
self.set_parameter("SIM_SPR_ENABLE", 1)
self.fetch_parameters()
self.set_parameter("SIM_SPR_PUMP", pump_ch)
self.set_parameter("SIM_SPR_SPIN", spinner_ch)
self.set_parameter("RC%u_OPTION" % rc_ch, 15)
self.set_parameter("LOG_DISARMED", 1)
self.reboot_sitl()
self.wait_ready_to_arm()
self.arm_vehicle()
self.progress("test bootup state - it's zero-output!")
self.wait_servo_channel_value(spinner_ch, 0)
self.wait_servo_channel_value(pump_ch, 0)
self.progress("Enable sprayer")
self.set_rc(rc_ch, 2000)
self.progress("Testing zero-speed state")
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing turning it off")
self.set_rc(rc_ch, 1000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing turning it back on")
self.set_rc(rc_ch, 2000)
self.wait_servo_channel_value(spinner_ch, spinner_ch_min)
self.wait_servo_channel_value(pump_ch, pump_ch_min)
self.progress("Testing speed-ramping")
self.set_rc(3, 1700) # start driving forward
# this is somewhat empirical...
self.wait_servo_channel_value(pump_ch, 1695, timeout=60)
self.progress("Sprayer OK")
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex:
raise ex
#################################################
# AUTOTEST ALL
#################################################
def drive_mission(self, filename):
"""Drive a mission from a file."""
self.progress("Driving mission %s" % filename)
self.load_mission(filename)
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('switch 4\n') # auto mode
self.set_rc(3, 1500)
self.wait_mode('AUTO')
self.wait_waypoint(1, 4, max_dist=5)
self.wait_mode('HOLD', timeout=300)
self.disarm_vehicle()
self.progress("Mission OK")
def test_gripper_mission(self):
self.load_mission("rover-gripper-mission.txt")
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.expect("Gripper Grabbed")
self.mavproxy.expect("Gripper Released")
self.wait_mode("HOLD")
self.disarm_vehicle()
def do_get_banner(self):
self.mavproxy.send("long DO_SEND_BANNER 1\n")
start = time.time()
while True:
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is not None and "ArduRover" in m.text:
self.progress("banner received: %s" % m.text)
return
if time.time() - start > 10:
break
raise MsgRcvTimeoutException("banner not received")
def drive_brake_get_stopping_distance(self, speed):
# measure our stopping distance:
old_cruise_speed = self.get_parameter('CRUISE_SPEED')
old_accel_max = self.get_parameter('ATC_ACCEL_MAX')
# controller tends not to meet cruise speed (max of ~14 when 15
# set), thus *1.2
self.set_parameter('CRUISE_SPEED', speed*1.2)
# at time of writing, the vehicle is only capable of 10m/s/s accel
self.set_parameter('ATC_ACCEL_MAX', 15)
self.change_mode("STEERING")
self.set_rc(3, 2000)
self.wait_groundspeed(15, 100)
initial = self.mav.location()
initial_time = time.time()
while time.time() - initial_time < 2:
# wait for a position update from the autopilot
start = self.mav.location()
if start != initial:
break
self.set_rc(3, 1500)
self.wait_groundspeed(0, 0.2) # why do we not stop?!
initial = self.mav.location()
initial_time = time.time()
while time.time() - initial_time < 2:
# wait for a position update from the autopilot
stop = self.mav.location()
if stop != initial:
break
delta = self.get_distance(start, stop)
self.set_parameter('CRUISE_SPEED', old_cruise_speed)
self.set_parameter('ATC_ACCEL_MAX', old_accel_max)
return delta
def drive_brake(self):
old_using_brake = self.get_parameter('ATC_BRAKE')
old_cruise_speed = self.get_parameter('CRUISE_SPEED')
self.set_parameter('CRUISE_SPEED', 15)
self.set_parameter('ATC_BRAKE', 0)
self.arm_vehicle()
distance_without_brakes = self.drive_brake_get_stopping_distance(15)
# brakes on:
self.set_parameter('ATC_BRAKE', 1)
distance_with_brakes = self.drive_brake_get_stopping_distance(15)
# revert state:
self.set_parameter('ATC_BRAKE', old_using_brake)
self.set_parameter('CRUISE_SPEED', old_cruise_speed)
delta = distance_without_brakes - distance_with_brakes
if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
self.disarm_vehicle()
raise NotAchievedException("""
Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
""" %
(distance_with_brakes,
distance_without_brakes,
delta))
self.disarm_vehicle()
self.progress(
"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
(distance_with_brakes, distance_without_brakes, delta))
def drive_rtl_mission_max_distance_from_home(self):
'''maximum distance allowed from home at end'''
return 6.5
def drive_rtl_mission(self):
self.wait_ready_to_arm()
self.arm_vehicle()
mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt")
self.load_mission(mission_filepath)
self.change_mode("AUTO")
self.mavproxy.expect('Mission: 3 RTL')
self.drain_mav();
m = self.mav.recv_match(type='NAV_CONTROLLER_OUTPUT',
blocking=True,
timeout=1)
if m is None:
raise MsgRcvTimeoutException(
"Did not receive NAV_CONTROLLER_OUTPUT message")
wp_dist_min = 5
if m.wp_dist < wp_dist_min:
raise PreconditionFailedException(
"Did not start at least %f metres from destination (is=%f)" %
(wp_dist_min, m.wp_dist))
self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
(m.wp_dist, wp_dist_min,))
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 600:
raise NotAchievedException("Did not get home")
self.progress("Distance home: %f (mode=%s)" %
(self.distance_to_home(), self.mav.flightmode))
if self.mode_is('HOLD') or self.mode_is('ACRO'): # acro for balancebot
break
# the EKF doesn't pull us down to 0 speed:
self.wait_groundspeed(0, 0.5, timeout=600)
# current Rover blows straight past the home position and ends
# up ~6m past the home point.
home_distance = self.distance_to_home()
home_distance_min = 5.5
home_distance_max = self.drive_rtl_mission_max_distance_from_home()
if home_distance > home_distance_max:
raise NotAchievedException(
"Did not stop near home (%f metres distant (%f > want > %f))" %
(home_distance, home_distance_min, home_distance_max))
self.disarm_vehicle()
self.progress("RTL Mission OK (%fm)" % home_distance)
def wait_distance_home_gt(self, distance, timeout=60):
home_distance = None
tstart = self.get_sim_time()
while self.get_sim_time_cached() - tstart < timeout:
# m = self.mav.recv_match(type='VFR_HUD', blocking=True)
distance_home = self.distance_to_home(use_cached_home=True)
self.progress("distance_home=%f want=%f" % (distance_home, distance))
if distance_home > distance:
return
self.drain_mav()
raise NotAchievedException("Failed to get %fm from home (now=%f)" %
(distance, home_distance))
def drive_fence_ac_avoidance(self):
self.context_push()
ex = None
try:
self.load_fence("rover-fence-ac-avoid.txt")
self.set_parameter("FENCE_ENABLE", 0)
self.set_parameter("PRX_TYPE", 10)
self.set_parameter("RC10_OPTION", 40) # proximity-enable
self.reboot_sitl()
# start = self.mav.location()
self.wait_ready_to_arm()
self.arm_vehicle()
# first make sure we can breach the fence:
self.set_rc(10, 1000)
self.change_mode("ACRO")
self.set_rc(3, 1550)
self.wait_distance_home_gt(25)
self.change_mode("RTL")
self.mavproxy.expect("APM: Reached destination")
# now enable avoidance and make sure we can't:
self.set_rc(10, 2000)
self.change_mode("ACRO")
self.wait_groundspeed(0, 0.7, timeout=60)
# watch for speed zero
self.wait_groundspeed(0, 0.2, timeout=120)
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
ex = e
self.context_pop()
self.mavproxy.send("fence clear\n")
self.disarm_vehicle(force=True)
self.reboot_sitl()
if ex:
raise ex
def test_servorelayevents(self):
self.do_set_relay(0, 0)
off = self.get_parameter("SIM_PIN_MASK")
self.do_set_relay(0, 1)
on = self.get_parameter("SIM_PIN_MASK")
if on == off:
raise NotAchievedException(
"Pin mask unchanged after relay cmd")
self.progress("Pin mask changed after relay command")
def test_setting_modes_via_mavproxy_switch(self):
fnoo = [(1, 'MANUAL'),
(2, 'MANUAL'),
(3, 'RTL'),
# (4, 'AUTO'), # no mission, can't set auto
(5, 'RTL'), # non-existant mode, should stay in RTL
(6, 'MANUAL')]
for (num, expected) in fnoo:
self.mavproxy.send('switch %u\n' % num)
self.wait_mode(expected)
def test_setting_modes_via_mavproxy_mode_command(self):
fnoo = [(1, 'ACRO'),
(3, 'STEERING'),
(4, 'HOLD'),
]
for (num, expected) in fnoo:
self.mavproxy.send('mode manual\n')
self.wait_mode("MANUAL")
self.mavproxy.send('mode %u\n' % num)
self.wait_mode(expected)
self.mavproxy.send('mode manual\n')
self.wait_mode("MANUAL")
self.mavproxy.send('mode %s\n' % expected)
self.wait_mode(expected)
def test_setting_modes_via_modeswitch(self):
# test setting of modes through mode switch
self.context_push()
ex = None
try:
self.set_parameter("MODE_CH", 8)
self.set_rc(8, 1000)
# mavutil.mavlink.ROVER_MODE_HOLD:
self.set_parameter("MODE6", 4)
# mavutil.mavlink.ROVER_MODE_ACRO
self.set_parameter("MODE5", 1)
self.set_rc(8, 1800) # PWM for mode6
self.wait_mode("HOLD")
self.set_rc(8, 1700) # PWM for mode5
self.wait_mode("ACRO")
self.set_rc(8, 1800) # PWM for mode6
self.wait_mode("HOLD")
self.set_rc(8, 1700) # PWM for mode5
self.wait_mode("ACRO")
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_setting_modes_via_auxswitches(self):
self.context_push()
ex = None
try:
self.set_parameter("MODE5", 1)
self.mavproxy.send('switch 1\n') # random mode
self.wait_heartbeat()
self.change_mode('MANUAL')
self.mavproxy.send('switch 5\n') # acro mode
self.wait_mode("ACRO")
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.set_parameter("RC9_OPTION", 53) # steering
self.set_parameter("RC10_OPTION", 54) # hold
self.set_rc(9, 1900)
self.wait_mode("STEERING")
self.set_rc(10, 1900)
self.wait_mode("HOLD")
# reset both switches - should go back to ACRO
self.set_rc(9, 1000)
self.set_rc(10, 1000)
self.wait_mode("ACRO")
self.set_rc(9, 1900)
self.wait_mode("STEERING")
self.set_rc(10, 1900)
self.wait_mode("HOLD")
self.set_rc(10, 1000) # this re-polls the mode switch
self.wait_mode("ACRO")
self.set_rc(9, 1000)
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_rc_override_cancel(self):
self.change_mode('MANUAL')
self.wait_ready_to_arm()
self.zero_throttle()
self.arm_vehicle()
# start moving forward a little:
normal_rc_throttle = 1700
throttle_override = 1900
self.progress("Establishing baseline RC input")
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not get rc change")
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
if m.chan3_raw == normal_rc_throttle:
break
self.progress("Set override with RC_CHANNELS_OVERRIDE")
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not override")
self.progress("Sending throttle of %u" % (throttle_override,))
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
65535, # chan1_raw
65535, # chan2_raw
throttle_override, # chan3_raw
65535, # chan4_raw
65535, # chan5_raw
65535, # chan6_raw
65535, # chan7_raw
65535) # chan8_raw
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
self.progress("chan3=%f want=%f" % (m.chan3_raw, throttle_override))
if m.chan3_raw == throttle_override:
break
self.progress("disabling override and making sure we revert to RC input in good time")
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 0.5:
raise AutoTestTimeoutException("Did not cancel override")
self.progress("Sending cancel of throttle override")
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
65535, # chan1_raw
65535, # chan2_raw
0, # chan3_raw
65535, # chan4_raw
65535, # chan5_raw
65535, # chan6_raw
65535, # chan7_raw
65535) # chan8_raw
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
self.progress("chan3=%f want=%f" % (m.chan3_raw, normal_rc_throttle))
if m.chan3_raw == normal_rc_throttle:
break
self.disarm_vehicle()
def test_rc_overrides(self):
self.context_push()
ex = None
try:
self.set_parameter("RC12_OPTION", 46)
self.reboot_sitl()
self.mavproxy.send('switch 6\n') # Manual mode
self.wait_mode('MANUAL')
self.wait_ready_to_arm()
self.mavproxy.send('rc 3 1500\n') # throttle at zero
self.arm_vehicle()
# start moving forward a little:
normal_rc_throttle = 1700
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
self.wait_groundspeed(5, 100)
# allow overrides:
self.set_rc(12, 2000)
# now override to stop:
throttle_override = 1500
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach speed")
self.progress("Sending throttle of %u" % (throttle_override,))
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
65535, # chan1_raw
65535, # chan2_raw
throttle_override, # chan3_raw
65535, # chan4_raw
65535, # chan5_raw
65535, # chan6_raw
65535, # chan7_raw
65535) # chan8_raw
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
want_speed = 2.0
self.progress("Speed=%f want=<%f" % (m.groundspeed, want_speed))
if m.groundspeed < want_speed:
break
# now override to stop - but set the switch on the RC
# transmitter to deny overrides; this should send the
# speed back up to 5 metres/second:
self.set_rc(12, 1000)
throttle_override = 1500
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not stop")
print("Sending throttle of %u" % (throttle_override,))
self.mav.mav.rc_channels_override_send(
1, # target system
1, # targe component
65535, # chan1_raw
65535, # chan2_raw
throttle_override, # chan3_raw
65535, # chan4_raw
65535, # chan5_raw
65535, # chan6_raw
65535, # chan7_raw
65535) # chan8_raw
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
want_speed = 5.0
print("Speed=%f want=>%f" % (m.groundspeed, want_speed))
if m.groundspeed > want_speed:
break
# re-enable RC overrides
self.set_rc(12, 2000)
# check we revert to normal RC inputs when gcs overrides cease:
self.progress("Waiting for RC to revert to normal RC input")
while True:
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
print("%s" % m)
if m.chan3_raw == normal_rc_throttle:
break
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
self.disarm_vehicle()
self.reboot_sitl()
if ex is not None:
raise ex
def test_manual_control(self):
self.context_push()
ex = None
try:
self.set_parameter("RC12_OPTION", 46) # enable/disable rc overrides
self.reboot_sitl()
self.change_mode("MANUAL")
self.wait_ready_to_arm()
self.zero_throttle()
self.arm_vehicle()
self.progress("start moving forward a little")
normal_rc_throttle = 1700
self.mavproxy.send('rc 3 %u\n' % normal_rc_throttle)
self.wait_groundspeed(5, 100)
self.progress("allow overrides")
self.set_rc(12, 2000)
self.progress("now override to stop")
throttle_override_normalized = 0
expected_throttle = 0 # in VFR_HUD
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not reach speed")
self.progress("Sending normalized throttle of %d" % (throttle_override_normalized,))
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
throttle_override_normalized, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
want_speed = 2.0
self.progress("Speed=%f want=<%f throttle=%u want=%u" %
(m.groundspeed, want_speed, m.throttle, expected_throttle))
if m.groundspeed < want_speed and m.throttle == expected_throttle:
break
self.progress("now override to stop - but set the switch on the RC transmitter to deny overrides; this should send the speed back up to 5 metres/second")
self.set_rc(12, 1000)
throttle_override_normalized = 500
expected_throttle = 36 # in VFR_HUD, corresponding to normal_rc_throttle adjusted for channel min/max
tstart = self.get_sim_time_cached()
while True:
if self.get_sim_time_cached() - tstart > 10:
raise AutoTestTimeoutException("Did not stop")
print("Sending normalized throttle of %u" % (throttle_override_normalized,))
self.mav.mav.manual_control_send(
1, # target system
32767, # x (pitch)
32767, # y (roll)
throttle_override_normalized, # z (thrust)
32767, # r (yaw)
0) # button mask
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
want_speed = 5.0
self.progress("Speed=%f want=>%f throttle=%u want=%u" %
(m.groundspeed, want_speed, m.throttle, expected_throttle))
if m.groundspeed > want_speed and m.throttle == expected_throttle:
break
# re-enable RC overrides
self.set_rc(12, 2000)
# check we revert to normal RC inputs when gcs overrides cease:
self.progress("Waiting for RC to revert to normal RC input")
while True:
m = self.mav.recv_match(type='RC_CHANNELS', blocking=True)
print("%s" % m)
if m.chan3_raw == normal_rc_throttle:
break
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
self.disarm_vehicle()
self.reboot_sitl()
if ex is not None:
raise ex
def test_camera_mission_items(self):
self.context_push()
ex = None
try:
self.load_mission("rover-camera-mission.txt")
self.wait_ready_to_arm()
self.change_mode("AUTO")
self.wait_ready_to_arm()
self.arm_vehicle()
prev_cf = None
while True:
cf = self.mav.recv_match(type='CAMERA_FEEDBACK', blocking=True)
if prev_cf is None:
prev_cf = cf
continue
dist_travelled = self.get_distance_int(prev_cf, cf)
prev_cf = cf
mc = self.mav.messages.get("MISSION_CURRENT", None)
if mc is None:
continue
elif mc.seq == 2:
expected_distance = 2
elif mc.seq == 4:
expected_distance = 5
elif mc.seq == 5:
break
else:
continue
self.progress("Expected distance %f got %f" %
(expected_distance, dist_travelled))
error = abs(expected_distance - dist_travelled)
# Rover moves at ~5m/s; we appear to do something at
# 5Hz, so we do see over a meter of error!
max_error = 1.5
if error > max_error:
raise NotAchievedException("Camera distance error: %f (%f)" %
(error, max_error))
self.disarm_vehicle()
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def test_do_set_mode_via_command_long(self):
self.do_set_mode_via_command_long("HOLD")
self.do_set_mode_via_command_long("MANUAL")
def test_mavproxy_do_set_mode_via_command_long(self):
self.mavproxy_do_set_mode_via_command_long("HOLD")
self.mavproxy_do_set_mode_via_command_long("MANUAL")
def test_sysid_enforce(self):
'''Run the same arming code with correct then incorrect SYSID'''
self.context_push()
ex = None
try:
# if set_parameter is ever changed to not use MAVProxy
# this test is going to break horribly. Sorry.
self.set_parameter("SYSID_MYGCS", 255) # assume MAVProxy does this!
self.set_parameter("SYSID_ENFORCE", 1) # assume MAVProxy does this!
self.change_mode('MANUAL')
self.progress("make sure I can arm ATM")
self.wait_ready_to_arm()
self.arm_vehicle(timeout=5)
self.disarm_vehicle()
# temporarily set a different system ID than MAVProxy:
self.progress("Attempting to arm vehicle myself")
old_srcSystem = self.mav.mav.srcSystem
try:
self.mav.mav.srcSystem = 243
self.arm_vehicle(timeout=5)
self.disarm_vehicle()
success = False
except AutoTestTimeoutException as e:
success = True
self.mav.mav.srcSystem = old_srcSystem
if not success:
raise NotAchievedException(
"Managed to arm with SYSID_ENFORCE set")
self.progress("Attempting to arm vehicle from vehicle component")
old_srcSystem = self.mav.mav.srcSystem
comp_arm_exception = None
try:
self.mav.mav.srcSystem = 1
self.arm_vehicle(timeout=5)
self.disarm_vehicle()
except Exception as e:
comp_arm_exception = e
self.mav.mav.srcSystem = old_srcSystem
if comp_arm_exception is not None:
raise comp_arm_exception
except Exception as e:
self.progress("Exception caught")
ex = e
self.context_pop()
if ex is not None:
raise ex
def drain_mav_seconds(self, seconds):
tstart = self.get_sim_time_cached()
while self.get_sim_time_cached() - tstart < seconds:
self.drain_mav();
self.delay_sim_time(0.5)
def test_button(self):
self.set_parameter("SIM_PIN_MASK", 0)
self.set_parameter("BTN_ENABLE", 1)
btn = 2
pin = 3
self.drain_mav()
self.set_parameter("BTN_PIN%u" % btn, pin)
m = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
self.progress("m: %s" % str(m))
if m is None:
raise NotAchievedException("Did not get BUTTON_CHANGE event")
mask = 1<<btn
if m.state & mask:
raise NotAchievedException("Bit incorrectly set in mask (got=%u dontwant=%u)" % (m.state, mask))
# SITL instantly reverts the pin to its old value
m2 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
self.progress("m2: %s" % str(m2))
if m2 is None:
raise NotAchievedException("Did not get repeat message")
# wait for messages to stop coming:
self.drain_mav_seconds(15)
self.set_parameter("SIM_PIN_MASK", 0)
m3 = self.mav.recv_match(type='BUTTON_CHANGE', blocking=True, timeout=1)
self.progress("m3: %s" % str(m3))
if m3 is None:
raise NotAchievedException("Did not get new message")
if m.last_change_ms == m3.last_change_ms:
raise NotAchievedException("last_change_ms same as first message")
if m3.state != 0:
raise NotAchievedException("Didn't get expected mask back in message (mask=0 state=%u" % (m3.state))
def test_rally_points(self):
self.reboot_sitl() # to ensure starting point is as expected
self.load_rally("rover-test-rally.txt")
accuracy = self.get_parameter("WP_RADIUS")
self.wait_ready_to_arm()
self.arm_vehicle()
self.reach_heading_manual(10)
self.reach_distance_manual(50)
self.change_mode("RTL")
# location copied in from rover-test-rally.txt:
loc = mavutil.location(40.071553,
-105.229401,
0,
0)
self.wait_location(loc, accuracy=accuracy)
self.disarm_vehicle()
def roundtrip_fencepoint_protocol(self, offset, count, lat, lng, target_system=1, target_component=1):
self.progress("Sending fence point")
self.mav.mav.fence_point_send(target_system,
target_component,
offset,
1,
lat,
lng)
self.progress("Requesting fence point")
self.mav.mav.fence_fetch_point_send(target_system,
target_component,
offset)
m = self.mav.recv_match(type="FENCE_POINT", blocking=True, timeout=2)
print("m: %s" % str(m))
if m is None:
raise NotAchievedException("Did not get fence return point back")
if abs(m.lat - lat) > 0.000001:
raise NotAchievedException("Did not get correct lat in fencepoint: got=%f want=%f" % (m.lat, lat))
if abs(m.lng - lng) > 0.000001:
raise NotAchievedException("Did not get correct lng in fencepoint: got=%f want=%f" % (m.lng, lng))
self.progress("Roundtrip OK")
def test_gcs_fence(self):
target_system = 1
target_component = 1
self.progress("Testing FENCE_POINT protocol")
self.set_parameter("FENCE_TOTAL", 1)
self.roundtrip_fencepoint_protocol(0, 1, 1.2345, 5.4321, target_system=target_system, target_component=target_component)
lat = 2.345
lng = 4.321
self.roundtrip_fencepoint_protocol(0, 1, lat, lng, target_system=target_system, target_component=target_component)
def test_offboard(self, timeout=90):
self.load_mission("rover-guided-mission.txt")
self.wait_ready_to_arm(require_absolute=True)
self.arm_vehicle()
self.change_mode("AUTO")
offboard_expected_duration = 10 # see mission file
if self.mav.messages.get("SET_POSITION_TARGET_GLOBAL_INT", None):
raise PreconditionFailedException("Already have SET_POSITION_TARGET_GLOBAL_INT")
tstart = self.get_sim_time_cached()
last_heartbeat_sent = 0
got_sptgi = False
magic_waypoint_tstart = 0
magic_waypoint_tstop = 0
while True:
if self.mode_is("HOLD", cached=True):
break
now = self.get_sim_time_cached()
if now - last_heartbeat_sent > 1:
last_heartbeat_sent = now
self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER,
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
0,
0,
0)
if now - tstart > timeout:
raise AutoTestTimeoutException("Didn't complete")
magic_waypoint = 3
# mc = self.mav.messages.get("MISSION_CURRENT", None)
mc = self.mav.recv_match(type="MISSION_CURRENT", blocking=False)
if mc is not None:
print("%s" % str(mc))
if mc.seq == magic_waypoint:
print("At magic waypoint")
if magic_waypoint_tstart == 0:
magic_waypoint_tstart = self.get_sim_time_cached()
sptgi = self.mav.messages.get("SET_POSITION_TARGET_GLOBAL_INT", None)
if sptgi is not None:
got_sptgi = True
elif mc.seq > magic_waypoint:
if magic_waypoint_tstop == 0:
magic_waypoint_tstop = self.get_sim_time_cached()
self.disarm_vehicle()
offboard_duration = magic_waypoint_tstop - magic_waypoint_tstart
if abs(offboard_duration - offboard_expected_duration) > 1:
raise NotAchievedException("Did not stay in offboard control for correct time (want=%f got=%f)" %
(offboard_expected_duration, offboard_duration))
if not got_sptgi:
raise NotAchievedException("Did not get sptgi message")
print("spgti: %s" % str(sptgi))
def assert_mission_count_on_link(self, mav, expected_count, target_system, target_component, mission_type):
self.drain_mav(mav)
self.progress("waiting for a message - any message....")
m = mav.recv_match(blocking=True, timeout=1)
self.progress("Received (%s)" % str(m))
if not mav.mavlink20():
raise NotAchievedException("Not doing mavlink2")
tstart = self.get_sim_time()
mav.mav.mission_request_list_send(target_system,
target_component,
mission_type)
while True:
if self.get_sim_time_cached() - tstart > 10:
raise NotAchievedException("Did not receive MISSION_COUNT on link")
m = mav.recv_match(blocking=True, timeout=1)
if m is None:
self.progress("No messages")
continue
self.progress("Received (%s)" % str(m))
if m.get_type() == "MISSION_ACK":
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
raise NotAchievedException("Expected MISSION_COUNT, got (%s)" % m)
if m.get_type() == "MISSION_COUNT":
break
if m.mission_type != mission_type:
raise NotAchievedException("Did not get expected mission type (want=%u got=%u)" % (mission_type, m.mission_type))
if m.count != expected_count:
raise NotAchievedException("Bad count received (want=%u got=%u)" %
(expected_count, m.count))
def get_mission_item_int_on_link(self, item, mav, target_system, target_component, mission_type):
mav.mav.mission_request_int_send(target_system,
target_component,
item,
mission_type)
m = mav.recv_match(type='MISSION_ITEM_INT',
blocking=True,
timeout=1)
if m is None:
raise NotAchievedException("Did not receive mission item int")
if m.mission_type != mission_type:
raise NotAchievedException("Mission item of incorrect type")
if m.target_system != mav.mav.srcSystem:
raise NotAchievedException("Unexpected target system %u want=%u" %
(m.target_system, mav.mav.srcSystem))
if m.seq != item:
raise NotAchievedException("Incorrect sequence number on received item got=%u want=%u" %
(m.seq, item))
if m.mission_type != mission_type:
raise NotAchievedException("Mission type incorrect on received item (want=%u got=%u)" %
(mission_type, m.mission_type))
if m.target_component != mav.mav.srcComponent:
raise NotAchievedException("Unexpected target component %u want=%u" %
(m.target_component, mav.mav.srcComponent))
return m
def get_mission_item_on_link(self, item, mav, target_system, target_component, mission_type):
mav.mav.mission_request_send(target_system,
target_component,
item,
mission_type)
m = mav.recv_match(type='MISSION_ITEM',
blocking=True,
timeout=1)
if m is None:
raise NotAchievedException("Did not receive mission item int")
if m.target_system != mav.mav.srcSystem:
raise NotAchievedException("Unexpected target system %u want=%u" %
(m.target_system, mav.mav.srcSystem))
if m.seq != item:
raise NotAchievedException("Incorrect sequence number on received item_int got=%u want=%u" %
(m.seq, item))
if m.mission_type != mission_type:
raise NotAchievedException("Mission type incorrect on received item_int (want=%u got=%u)" %
(mission_type, m.mission_type))
if m.target_component != mav.mav.srcComponent:
raise NotAchievedException("Unexpected target component %u want=%u" %
(m.target_component, mav.mav.srcComponent))
return m
def clear_mission(self, mission_type, target_system=1, target_component=1):
self.mav.mav.mission_count_send(target_system,
target_component,
0,
mission_type)
m = self.mav.recv_match(type='MISSION_ACK',
blocking=True,
timeout=5)
if m is None:
raise NotAchievedException("Expected ACK for clearing mission")
if m.target_system != self.mav.mav.srcSystem:
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
(self.mav.mav.srcSystem, m.target_system))
if m.target_component != self.mav.mav.srcComponent:
raise NotAchievedException("ACK not targetted at correct component want=%u got=%u" %
(self.mav.mav.srcComponent, m.target_component))
if m.type != mavutil.mavlink.MAV_MISSION_ACCEPTED:
raise NotAchievedException("Expected MAV_MISSION_ACCEPTED got %s" %
(mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name,))
def assert_receive_mission_item_request(self, mission_type, seq):
self.progress("Expecting request for item %u" % seq)
m = self.mav.recv_match(type='MISSION_REQUEST',
blocking=True,
timeout=1)
if m is None:
raise NotAchievedException("Did not get item request")
if m.mission_type != mission_type:
raise NotAchievedException("Incorrect mission type (wanted=%u got=%u)" %
(mission_type, m.mission_type))
if m.seq != seq:
raise NotAchievedException("Unexpected sequence number (want=%u got=%u)" % (seq, m.seq))
self.progress("Received item request OK")
def assert_receive_mission_ack(self, mission_type,
want_type=mavutil.mavlink.MAV_MISSION_ACCEPTED,
target_system=None,
target_component=None,
mav=None):
if mav is None:
mav = self.mav
if target_system is None:
target_system = mav.mav.srcSystem
if target_component is None:
target_component = mav.mav.srcComponent
self.progress("Expecting mission ack")
m = mav.recv_match(type='MISSION_ACK',
blocking=True,
timeout=5)
self.progress("Received ACK (%s)" % str(m))
if m is None:
raise NotAchievedException("Expected mission ACK")
if m.target_system != target_system:
raise NotAchievedException("ACK not targetted at correct system want=%u got=%u" %
(mav.mav.srcSystem, m.target_system))
if m.target_component != target_component:
raise NotAchievedException("ACK not targetted at correct component")
if m.mission_type != mission_type:
raise NotAchievedException("Unexpected mission type %u want=%u" %
(m.mission_type, mission_type))
if m.type != want_type:
raise NotAchievedException("Expected ack type got %u got %u" %
(want_type, m.type))
def test_gcs_rally(self):
target_system = 1
target_component = 1
self.mavproxy.send('rally clear\n')
self.delay_sim_time(1)
if self.get_parameter("RALLY_TOTAL") != 0:
raise NotAchievedException("Failed to clear rally points")
old_srcSystem = self.mav.mav.srcSystem
# stop MAVProxy poking the autopilot:
self.mavproxy.send('module unload rally\n')
self.mavproxy.expect("Unloaded module rally")
self.mavproxy.send('module unload wp\n')
self.mavproxy.expect("Unloaded module wp")
try:
item1_lat = int(2.0000 *1e7)
items = [
self.mav.mav.mission_item_int_encode(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.0000 *1e7), # latitude
int(1.0000 *1e7), # longitude
31.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
self.mav.mav.mission_item_int_encode(
target_system,
target_component,
1, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
item1_lat, # latitude
int(2.0000 *1e7), # longitude
32.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
self.mav.mav.mission_item_int_encode(
target_system,
target_component,
2, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(3.0000 *1e7), # latitude
int(3.0000 *1e7), # longitude
33.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
]
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
items)
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
print("Got items (%s)" % str(items))
if len(downloaded) != len(items):
raise NotAchievedException("Did not download correct number of items want=%u got=%u" % (len(downloaded), len(items)))
rally_total = self.get_parameter("RALLY_TOTAL")
if rally_total != len(downloaded):
raise NotAchievedException("Unexpected rally point count: want=%u got=%u" % (len(items), rally_total))
self.progress("Pruning count by setting parameter (urgh)")
self.set_parameter("RALLY_TOTAL", 2)
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if len(downloaded) != 2:
raise NotAchievedException("Failed to prune rally points by setting parameter. want=%u got=%u" % (2, len(downloaded)))
self.progress("Uploading a third item using old protocol")
new_item2_lat = int(6.0 *1e7)
self.set_parameter("RALLY_TOTAL", 3)
self.mav.mav.rally_point_send(target_system,
target_component,
2, # sequence number
3, # total count
new_item2_lat,
int(7.0 *1e7),
15,
0, # "break" alt?!
0, # "land dir"
0) # flags
downloaded = self.download_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if len(downloaded) != 3:
raise NotAchievedException("resetting rally point count didn't change items returned")
if downloaded[2].x != new_item2_lat:
raise NotAchievedException("Bad lattitude in downloaded item: want=%u got=%u" % (new_item2_lat, downloaded[2].x))
self.progress("Grabbing original item 1 using original protocol")
self.mav.mav.rally_fetch_point_send(target_system,
target_component,
1)
m = self.mav.recv_match(type="RALLY_POINT", blocking=True, timeout=1)
if m.target_system != 255:
raise NotAchievedException("Bad target_system on received rally point (want=%u got=%u)" % (255, m.target_system))
if m.target_component != 250: # autotest's component ID
raise NotAchievedException("Bad target_component on received rally point")
if m.lat != item1_lat:
raise NotAchievedException("Bad latitude on received rally point")
self.start_subtest("Test upload lockout and timeout")
self.progress("Starting upload from normal sysid")
self.mav.mav.mission_count_send(target_system,
target_component,
len(items),
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.drain_mav() # throw away requests for items
self.mav.mav.srcSystem = 243
self.progress("Attempting upload from sysid=%u" %
(self.mav.mav.srcSystem,))
self.mav.mav.mission_count_send(target_system,
target_component,
len(items),
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_DENIED)
self.progress("Attempting download from sysid=%u" %
(self.mav.mav.srcSystem,))
self.mav.mav.mission_request_list_send(target_system,
target_component,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_DENIED)
# wait for the upload from sysid=1 to time out:
self.mavproxy.expect("upload timeout")
self.progress("Now trying to upload empty mission after timeout")
self.mav.mav.mission_count_send(target_system,
target_component,
0,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.drain_mav()
self.start_subtest("Check rally upload/download across separate links")
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
items)
self.progress("ensure a mavlink1 connection can't do anything useful with new item types")
mav2 = mavutil.mavlink_connection("tcp:localhost:5763",
robust_parsing=True,
source_system = 7,
source_component=7)
mav2.mav.mission_request_list_send(target_system,
target_component,
mission_type=mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
# so this looks a bit odd; the other end isn't sending
# mavlink2 so can't fill in the extension here.
self.assert_receive_mission_ack(
mavutil.mavlink.MAV_MISSION_TYPE_MISSION,
want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED,
mav=mav2,
)
self.set_parameter("SERIAL2_PROTOCOL", 2)
expected_count = 3
self.progress("Assert mission count on new link")
self.assert_mission_count_on_link(mav2, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Assert mission count on original link")
self.assert_mission_count_on_link(self.mav, expected_count, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Get first item on new link")
m2 = self.get_mission_item_int_on_link(2, mav2, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Get first item on original link")
m = self.get_mission_item_int_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
if m2.x != m.x:
raise NotAchievedException("mission items do not match (%d vs %d)" % (m2.x, m.x))
self.get_mission_item_on_link(2, self.mav, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
# ensure we get nacks for bad mission item requests:
self.mav.mav.mission_request_send(target_system,
target_component,
65,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
)
self.mav.mav.mission_request_int_send(target_system,
target_component,
65,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(
mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
)
self.start_subtest("Should enforce items come from correct GCS")
self.mav.mav.mission_count_send(target_system,
target_component,
1,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
self.progress("Attempting to upload from bad sysid")
old_sysid = self.mav.mav.srcSystem
self.mav.mav.srcSystem = 17
items[0].pack(self.mav.mav)
self.mav.mav.send(items[0])
self.mav.mav.srcSystem = old_sysid
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_DENIED,
target_system=17)
self.progress("Sending from correct sysid")
items[0].pack(self.mav.mav)
self.mav.mav.send(items[0])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.drain_mav()
self.drain_all_pexpects()
self.start_subtest("Attempt to send item on different link to that which we are sending requests on")
self.progress("Sending count")
self.mav.mav.mission_count_send(target_system,
target_component,
2,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
old_mav2_system = mav2.mav.srcSystem
old_mav2_component = mav2.mav.srcComponent
mav2.mav.srcSystem = self.mav.mav.srcSystem
mav2.mav.srcComponent = self.mav.mav.srcComponent
self.progress("Sending item on second link")
# note that the routing table in ArduPilot now will say
# this sysid/compid is on both links which may cause
# weirdness...
items[0].pack(mav2.mav)
mav2.mav.send(items[0])
mav2.mav.srcSystem = old_mav2_system
mav2.mav.srcComponent = old_mav2_component
# we continue to receive requests on the original link:
m = self.mav.recv_match(type='MISSION_REQUEST',
blocking=True,
timeout=1)
if m is None:
raise NotAchievedException("Did not get mission request")
if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_RALLY:
raise NotAchievedException("Mission request of incorrect type")
if m.seq != 1:
raise NotAchievedException("Unexpected sequence number (expected=%u got=%u)" % (1, m.seq))
items[1].pack(self.mav.mav)
self.mav.mav.send(items[1])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.drain_mav()
self.drain_all_pexpects()
self.start_subtest("Upload mission and rally points at same time")
self.progress("Sending rally count")
self.mav.mav.mission_count_send(target_system,
target_component,
3,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 0)
self.progress("Sending wp count")
self.mav.mav.mission_count_send(target_system,
target_component,
3,
mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 0)
self.progress("Answering request for mission item 0")
self.mav.mav.mission_item_int_send(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.1000 *1e7), # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 1)
self.progress("Answering request for rally point 0")
items[0].pack(self.mav.mav)
self.mav.mav.send(items[0])
self.progress("Expecting request for rally item 1")
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
self.progress("Answering request for rally point 1")
items[1].pack(self.mav.mav)
self.mav.mav.send(items[1])
self.progress("Expecting request for rally item 2")
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
self.progress("Answering request for rally point 2")
items[2].pack(self.mav.mav)
self.mav.mav.send(items[2])
self.progress("Expecting mission ack for rally")
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("Answering request for waypoints item 1")
self.mav.mav.mission_item_int_send(
target_system,
target_component,
1, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.1000 *1e7), # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_MISSION, 2)
self.progress("Answering request for waypoints item 2")
self.mav.mav.mission_item_int_send(
target_system,
target_component,
2, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.1000 *1e7), # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_MISSION),
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.start_subtest("Test write-partial-list")
self.progress("Clearing rally points using count-send")
self.clear_mission(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
target_system=target_system,
target_component=target_component)
self.progress("Should not be able to set items completely past the waypoint count")
self.upload_using_mission_protocol(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
items)
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
17,
20,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
self.progress("Should not be able to set items overlapping the waypoint count")
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
0,
20,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_ERROR)
self.progress("try to overwrite items 1 and 2")
self.mav.mav.mission_write_partial_list_send(
target_system,
target_component,
1,
2,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 1)
self.progress("Try shoving up an incorrectly sequenced item")
self.mav.mav.mission_item_int_send(
target_system,
target_component,
0, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.1000 *1e7), # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE)
self.progress("Try shoving up an incorrectly sequenced item (but within band)")
self.mav.mav.mission_item_int_send(
target_system,
target_component,
2, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
int(1.1000 *1e7), # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE)
self.progress("Now provide correct item")
item1_latitude = int(1.2345*1e7)
self.mav.mav.mission_item_int_send(
target_system,
target_component,
1, # seq
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
mavutil.mavlink.MAV_CMD_NAV_RALLY_POINT,
0, # current
0, # autocontinue
0, # p1
0, # p2
0, # p3
0, # p4
item1_latitude, # latitude
int(1.2000 *1e7), # longitude
321.0000, # altitude
mavutil.mavlink.MAV_MISSION_TYPE_RALLY),
self.assert_receive_mission_item_request(mavutil.mavlink.MAV_MISSION_TYPE_RALLY, 2)
self.progress("Answering request for rally point 2")
items[2].pack(self.mav.mav)
self.mav.mav.send(items[2])
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.progress("TODO: ensure partial mission write was good")
self.start_subtest("clear mission types")
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 3, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.mav.mav.mission_clear_all_send(target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_mission_count_on_link(self.mav, 0, target_system, target_component, mavutil.mavlink.MAV_MISSION_TYPE_MISSION)
self.start_subtest("try sending out-of-range counts")
self.mav.mav.mission_count_send(target_system,
target_component,
1,
230)
self.assert_receive_mission_ack(230,
want_type=mavutil.mavlink.MAV_MISSION_UNSUPPORTED)
self.mav.mav.mission_count_send(target_system,
target_component,
16000,
mavutil.mavlink.MAV_MISSION_TYPE_RALLY)
self.assert_receive_mission_ack(mavutil.mavlink.MAV_MISSION_TYPE_RALLY,
want_type=mavutil.mavlink.MAV_MISSION_NO_SPACE)
except Exception as e:
self.progress("Received exception (%s)" % self.get_exception_stacktrace(e))
self.mav.mav.srcSystem = old_srcSystem
raise e
self.mavproxy.send('module load rally\n')
self.mavproxy.expect("Loaded module rally")
self.mavproxy.send('module load wp\n')
self.mavproxy.expect("Loaded module wp")
def wait_distance_to_home(self, distance, accuracy=5):
tstart = self.get_sim_time()
timeout = 30
while True:
if self.get_sim_time_cached() - tstart > timeout:
raise AutoTestTimeoutException("Failed to get home")
self.mav.recv_match(type='VFR_HUD', blocking=True)
self.progress("Dist from home: %.02f" % self.distance_to_home(use_cached_home=True))
if abs(distance-self.distance_to_home(use_cached_home=True)) <= accuracy:
break
def drive_smartrtl(self):
self.change_mode("STEERING")
self.wait_ready_to_arm()
self.arm_vehicle()
# drive two sides of a square, make sure we don't go back through
# the middle of the square
self.progress("Driving North")
self.reach_heading_manual(0)
self.set_rc(3, 2000)
self.delay_sim_time(5)
self.set_rc(3, 1000)
self.wait_groundspeed(0, 1)
loc = self.mav.location()
self.progress("Driving East")
self.set_rc(3, 2000)
self.reach_heading_manual(90)
self.set_rc(3, 2000)
self.delay_sim_time(5)
self.set_rc(3, 1000)
self.progress("Entering smartrtl")
self.change_mode("SMART_RTL")
self.progress("Ensure we go via intermediate point")
self.wait_distance_to_location(loc, 0, 5)
self.progress("Ensure we get home")
self.wait_distance_to_home(5, accuracy=2)
self.disarm_vehicle()
def test_motor_test(self):
'''AKA run-rover-run'''
magic_throttle_value = 1812
self.run_cmd(mavutil.mavlink.MAV_CMD_DO_MOTOR_TEST,
1, # p1 - motor instance
mavutil.mavlink.MOTOR_TEST_THROTTLE_PWM, # p2 - throttle type
magic_throttle_value, # p3 - throttle
5, # p4 - timeout
1, # p5 - motor count
0, # p6 - test order (see MOTOR_TEST_ORDER)
0, # p7
)
self.mav.motors_armed_wait()
self.progress("Waiting for magic throttle value")
self.wait_servo_channel_value(3, magic_throttle_value)
self.wait_servo_channel_value(3, self.get_parameter("RC3_TRIM", 5), timeout=10)
self.mav.motors_disarmed_wait()
def tests(self):
'''return list of all tests'''
ret = super(AutoTestRover, self).tests()
ret.extend([
("MAVProxy_SetModeUsingSwitch",
"Set modes via mavproxy switch",
self.test_setting_modes_via_mavproxy_switch),
("MAVProxy_SetModeUsingMode",
"Set modes via mavproxy mode command",
self.test_setting_modes_via_mavproxy_mode_command),
("ModeSwitch",
"Set modes via modeswitch",
self.test_setting_modes_via_modeswitch),
("AuxModeSwitch",
"Set modes via auxswitches",
self.test_setting_modes_via_auxswitches),
("DriveRTL",
"Drive an RTL Mission", self.drive_rtl_mission),
("SmartRTL",
"Test SmartRTL",
self.drive_smartrtl),
("DriveSquare",
"Learn/Drive Square with Ch7 option",
self.drive_square),
("DriveMission",
"Drive Mission %s" % "rover1.txt",
lambda: self.drive_mission("rover1.txt")),
# disabled due to frequent failures in travis. This test needs re-writing
# ("Drive Brake", self.drive_brake),
("GetBanner", "Get Banner", self.do_get_banner),
("GetCapabilities",
"Get Capabilities",
self.do_get_autopilot_capabilities),
("DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE",
self.test_do_set_mode_via_command_long),
("MAVProxy_DO_SET_MODE",
"Set mode via MAV_COMMAND_DO_SET_MODE with MAVProxy",
self.test_mavproxy_do_set_mode_via_command_long),
("ServoRelayEvents",
"Test ServoRelayEvents",
self.test_servorelayevents),
("RCOverrides", "Test RC overrides", self.test_rc_overrides),
("RCOverridesCancel", "Test RC overrides Cancel", self.test_rc_override_cancel),
("MANUAL_CONTROL", "Test mavlink MANUAL_CONTROL", self.test_manual_control),
("Sprayer", "Test Sprayer", self.test_sprayer),
("AC_Avoidance",
"Test AC Avoidance switch",
self.drive_fence_ac_avoidance),
("CameraMission",
"Test Camera Mission Items",
self.test_camera_mission_items),
# Gripper test
("Gripper",
"Test gripper",
self.test_gripper),
("GripperMission",
"Test Gripper Mission Items",
self.test_gripper_mission),
("SET_MESSAGE_INTERVAL",
"Test MAV_CMD_SET_MESSAGE_INTERVAL",
self.test_set_message_interval),
("REQUEST_MESSAGE",
"Test MAV_CMD_REQUEST_MESSAGE",
self.test_request_message),
("SYSID_ENFORCE",
"Test enforcement of SYSID_MYGCS",
self.test_sysid_enforce),
("Button",
"Test Buttons",
self.test_button),
("Rally",
"Test Rally Points",
self.test_rally_points),
("Offboard",
"Test Offboard Control",
self.test_offboard),
("GCSFence",
"Upload and download of fence",
self.test_gcs_fence),
("GCSRally",
"Upload and download of rally",
self.test_gcs_rally),
("MotorTest",
"Motor Test triggered via mavlink",
self.test_motor_test),
("DataFlashOverMAVLink",
"Test DataFlash over MAVLink",
self.test_dataflash_over_mavlink),
("DataFlashSITL",
"Test DataFlash SITL backend",
self.test_dataflash_sitl),
("DownLoadLogs", "Download logs", lambda:
self.log_download(
self.buildlogs_path("APMrover2-log.bin"),
upload_logs=len(self.fail_list) > 0)),
])
return ret
def rc_defaults(self):
ret = super(AutoTestRover, self).rc_defaults()
ret[3] = 1500
ret[8] = 1800
return ret
def default_mode(self):
return 'MANUAL'