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zr-v4/Tools/autotest/arducopter.py

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# fly ArduCopter in SITL
# Flight mode switch positions are set-up in arducopter.param to be
# switch 1 = Circle
# switch 2 = Land
# switch 3 = RTL
# switch 4 = Auto
# switch 5 = Loiter
# switch 6 = Stabilize
from __future__ import print_function
import math
import os
import shutil
import time
import pexpect
from pymavlink import mavutil, mavwp
from common import *
from pysim import util
from pysim import vehicleinfo
vinfo = vehicleinfo.VehicleInfo()
# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
HOME = mavutil.location(-35.362938, 149.165085, 584, 270)
AVCHOME = mavutil.location(40.072842, -105.230575, 1586, 0)
homeloc = None
num_wp = 0
def wait_ready_to_arm(mavproxy):
# wait for EKF and GPS checks to pass
mavproxy.expect('IMU0 is using GPS')
def hover(mavproxy, mav, hover_throttle=1500):
mavproxy.send('rc 3 %u\n' % hover_throttle)
return True
def arm_motors(mavproxy, mav):
"""Arm motors."""
print("Arming motors")
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 4 2000\n')
mavproxy.expect('APM: Arming motors')
mavproxy.send('rc 4 1500\n')
mav.motors_armed_wait()
print("MOTORS ARMED OK")
return True
def disarm_motors(mavproxy, mav):
"""Disarm motors."""
print("Disarming motors")
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 4 1000\n')
mavproxy.expect('APM: Disarming motors')
mavproxy.send('rc 4 1500\n')
mav.motors_disarmed_wait()
print("MOTORS DISARMED OK")
return True
def takeoff(mavproxy, mav, alt_min=30, takeoff_throttle=1700):
"""Takeoff get to 30m altitude."""
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 %u\n' % takeoff_throttle)
m = mav.recv_match(type='VFR_HUD', blocking=True)
if (m.alt < alt_min):
wait_altitude(mav, alt_min, (alt_min + 5))
hover(mavproxy, mav)
print("TAKEOFF COMPLETE")
return True
# loiter - fly south west, then hold loiter within 5m position and altitude
def loiter(mavproxy, mav, holdtime=10, maxaltchange=5, maxdistchange=5):
"""Hold loiter position."""
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# first aim south east
print("turn south east")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 170):
return False
mavproxy.send('rc 4 1500\n')
# fly south east 50m
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 50):
return False
mavproxy.send('rc 2 1500\n')
# wait for copter to slow moving
if not wait_groundspeed(mav, 0, 2):
return False
success = True
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = mav.location()
tstart = get_sim_time(mav)
tholdstart = get_sim_time(mav)
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
while get_sim_time(mav) < tstart + holdtime:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
delta = get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
print("Loiter alt shifted %u meters (> limit of %u)" % (alt_delta, maxaltchange))
success = False
if delta > maxdistchange:
print("Loiter shifted %u meters (> limit of %u)" % (delta, maxdistchange))
success = False
if success:
print("Loiter OK for %u seconds" % holdtime)
else:
print("Loiter FAILED")
return success
def change_alt(mavproxy, mav, alt_min, climb_throttle=1920, descend_throttle=1080):
"""Change altitude."""
m = mav.recv_match(type='VFR_HUD', blocking=True)
if(m.alt < alt_min):
print("Rise to alt:%u from %u" % (alt_min, m.alt))
mavproxy.send('rc 3 %u\n' % climb_throttle)
wait_altitude(mav, alt_min, (alt_min + 5))
else:
print("Lower to alt:%u from %u" % (alt_min, m.alt))
mavproxy.send('rc 3 %u\n' % descend_throttle)
wait_altitude(mav, (alt_min - 5), alt_min)
hover(mavproxy, mav)
return True
# fly a square in stabilize mode
def fly_square(mavproxy, mav, side=50, timeout=300):
"""Fly a square, flying N then E ."""
tstart = get_sim_time(mav)
success = True
# ensure all sticks in the middle
mavproxy.send('rc 1 1500\n')
mavproxy.send('rc 2 1500\n')
mavproxy.send('rc 3 1500\n')
mavproxy.send('rc 4 1500\n')
# switch to loiter mode temporarily to stop us from rising
mavproxy.send('switch 5\n')
wait_mode(mav, 'LOITER')
# first aim north
print("turn right towards north")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 10):
print("Failed to reach heading")
success = False
mavproxy.send('rc 4 1500\n')
mav.recv_match(condition='RC_CHANNELS.chan4_raw==1500', blocking=True)
# save bottom left corner of box as waypoint
print("Save WP 1 & 2")
save_wp(mavproxy, mav)
# switch back to stabilize mode
mavproxy.send('rc 3 1500\n')
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
# pitch forward to fly north
print("Going north %u meters" % side)
mavproxy.send('rc 2 1300\n')
if not wait_distance(mav, side):
print("Failed to reach distance of %u" % side)
success = False
mavproxy.send('rc 2 1500\n')
# save top left corner of square as waypoint
print("Save WP 3")
save_wp(mavproxy, mav)
# roll right to fly east
print("Going east %u meters" % side)
mavproxy.send('rc 1 1700\n')
if not wait_distance(mav, side):
print("Failed to reach distance of %u" % side)
success = False
mavproxy.send('rc 1 1500\n')
# save top right corner of square as waypoint
print("Save WP 4")
save_wp(mavproxy, mav)
# pitch back to fly south
print("Going south %u meters" % side)
mavproxy.send('rc 2 1700\n')
if not wait_distance(mav, side):
print("Failed to reach distance of %u" % side)
success = False
mavproxy.send('rc 2 1500\n')
# save bottom right corner of square as waypoint
print("Save WP 5")
save_wp(mavproxy, mav)
# roll left to fly west
print("Going west %u meters" % side)
mavproxy.send('rc 1 1300\n')
if not wait_distance(mav, side):
print("Failed to reach distance of %u" % side)
success = False
mavproxy.send('rc 1 1500\n')
# save bottom left corner of square (should be near home) as waypoint
print("Save WP 6")
save_wp(mavproxy, mav)
# descend to 10m
print("Descend to 10m in Loiter")
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
mavproxy.send('rc 3 1300\n')
time_left = timeout - (get_sim_time(mav) - tstart)
print("timeleft = %u" % time_left)
if time_left < 20:
time_left = 20
if not wait_altitude(mav, -10, 10, time_left):
print("Failed to reach alt of 10m")
success = False
save_wp(mavproxy, mav)
return success
def fly_RTL(mavproxy, mav, side=60, timeout=250):
"""Return, land."""
print("# Enter RTL")
mavproxy.send('switch 3\n')
tstart = get_sim_time(mav)
while get_sim_time(mav) < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
home_distance = get_distance(HOME, pos)
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
if(m.alt <= 1 and home_distance < 10):
return True
return False
def fly_throttle_failsafe(mavproxy, mav, side=60, timeout=180):
"""Fly east, Failsafe, return, land."""
# switch to loiter mode temporarily to stop us from rising
mavproxy.send('switch 5\n')
wait_mode(mav, 'LOITER')
# first aim east
print("turn east")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 135):
return False
mavproxy.send('rc 4 1500\n')
# raise throttle slightly to avoid hitting the ground
mavproxy.send('rc 3 1600\n')
# switch to stabilize mode
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
hover(mavproxy, mav)
# fly east 60 meters
print("# Going forward %u meters" % side)
mavproxy.send('rc 2 1350\n')
if not wait_distance(mav, side, 5, 60):
return False
mavproxy.send('rc 2 1500\n')
# pull throttle low
print("# Enter Failsafe")
mavproxy.send('rc 3 900\n')
tstart = get_sim_time(mav)
while get_sim_time(mav) < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
home_distance = get_distance(HOME, pos)
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
# check if we've reached home
if m.alt <= 1 and home_distance < 10:
# reduce throttle
mavproxy.send('rc 3 1100\n')
# switch back to stabilize
mavproxy.send('switch 2\n') # land mode
wait_mode(mav, 'LAND')
print("Waiting for disarm")
mav.motors_disarmed_wait()
print("Reached failsafe home OK")
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
if not arm_motors(mavproxy, mav):
print("Failed to re-arm")
return False
return True
print("Failed to land on failsafe RTL - timed out after %u seconds" % timeout)
# reduce throttle
mavproxy.send('rc 3 1100\n')
# switch back to stabilize mode
mavproxy.send('switch 2\n') # land mode
wait_mode(mav, 'LAND')
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
return False
def fly_battery_failsafe(mavproxy, mav, timeout=30):
# assume failure
success = False
# switch to loiter mode so that we hold position
mavproxy.send('switch 5\n')
wait_mode(mav, 'LOITER')
mavproxy.send("rc 3 1500\n")
# enable battery failsafe
mavproxy.send("param set FS_BATT_ENABLE 1\n")
# trigger low voltage
mavproxy.send('param set SIM_BATT_VOLTAGE 10\n')
# wait for LAND mode
new_mode = wait_mode(mav, 'LAND')
if new_mode == 'LAND':
success = True
# disable battery failsafe
mavproxy.send('param set FS_BATT_ENABLE 0\n')
# return status
if success:
print("Successfully entered LAND mode after battery failsafe")
else:
print("Failed to enter LAND mode after battery failsafe")
return success
# fly_stability_patch - fly south, then hold loiter within 5m position and altitude and reduce 1 motor to 60% efficiency
def fly_stability_patch(mavproxy, mav, holdtime=30, maxaltchange=5, maxdistchange=10):
"""Hold loiter position."""
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# first south
print("turn south")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 180):
return False
mavproxy.send('rc 4 1500\n')
# fly west 80m
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 80):
return False
mavproxy.send('rc 2 1500\n')
# wait for copter to slow moving
if not wait_groundspeed(mav, 0, 2):
return False
success = True
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
start = mav.location()
tstart = get_sim_time(mav)
tholdstart = get_sim_time(mav)
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
# cut motor 1 to 55% efficiency
print("Cutting motor 1 to 60% efficiency")
mavproxy.send('param set SIM_ENGINE_MUL 0.60\n')
while get_sim_time(mav) < tstart + holdtime:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
delta = get_distance(start, pos)
alt_delta = math.fabs(m.alt - start_altitude)
print("Loiter Dist: %.2fm, alt:%u" % (delta, m.alt))
if alt_delta > maxaltchange:
print("Loiter alt shifted %u meters (> limit of %u)" % (alt_delta, maxaltchange))
success = False
if delta > maxdistchange:
print("Loiter shifted %u meters (> limit of %u)" % (delta, maxdistchange))
success = False
# restore motor 1 to 100% efficiency
mavproxy.send('param set SIM_ENGINE_MUL 1.0\n')
if success:
print("Stability patch and Loiter OK for %u seconds" % holdtime)
else:
print("Stability Patch FAILED")
return success
# fly_fence_test - fly east until you hit the horizontal circular fence
def fly_fence_test(mavproxy, mav, timeout=180):
"""Hold loiter position."""
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# enable fence, disable avoidance
mavproxy.send('param set FENCE_ENABLE 1\n')
mavproxy.send('param set AVOID_ENABLE 0\n')
# first east
print("turn east")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 160):
return False
mavproxy.send('rc 4 1500\n')
# fly forward (east) at least 20m
pitching_forward = True
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 20):
return False
# start timer
tstart = get_sim_time(mav)
while get_sim_time(mav) < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
home_distance = get_distance(HOME, pos)
print("Alt: %u HomeDistance: %.0f" % (m.alt, home_distance))
# recenter pitch sticks once we reach home so we don't fly off again
if pitching_forward and home_distance < 10:
pitching_forward = False
mavproxy.send('rc 2 1500\n')
# disable fence
mavproxy.send('param set FENCE_ENABLE 0\n')
if m.alt <= 1 and home_distance < 10:
# reduce throttle
mavproxy.send('rc 3 1000\n')
# switch mode to stabilize
mavproxy.send('switch 2\n') # land mode
wait_mode(mav, 'LAND')
print("Waiting for disarm")
mav.motors_disarmed_wait()
print("Reached home OK")
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
mavproxy.send('arm uncheck all\n') # remove if we ever clear battery failsafe flag on disarm
if not arm_motors(mavproxy, mav):
print("Failed to re-arm")
mavproxy.send('arm check all\n') # remove if we ever clear battery failsafe flag on disarm
return False
mavproxy.send('arm check all\n') # remove if we ever clear battery failsafe flag on disarm
return True
# disable fence, enable avoidance
mavproxy.send('param set FENCE_ENABLE 0\n')
mavproxy.send('param set AVOID_ENABLE 1\n')
# reduce throttle
mavproxy.send('rc 3 1000\n')
# switch mode to stabilize
mavproxy.send('switch 2\n') # land mode
wait_mode(mav, 'LAND')
mavproxy.send('switch 6\n') # stabilize mode
wait_mode(mav, 'STABILIZE')
print("Fence test failed to reach home - timed out after %u seconds" % timeout)
return False
def show_gps_and_sim_positions(mavproxy, on_off):
if on_off is True:
# turn on simulator display of gps and actual position
mavproxy.send('map set showgpspos 1\n')
mavproxy.send('map set showsimpos 1\n')
else:
# turn off simulator display of gps and actual position
mavproxy.send('map set showgpspos 0\n')
mavproxy.send('map set showsimpos 0\n')
def fly_gps_glitch_loiter_test(mavproxy, mav, use_map=False, timeout=30, max_distance=20):
"""fly_gps_glitch_loiter_test.
Fly south east in loiter and test reaction to gps glitch."""
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# turn on simulator display of gps and actual position
if (use_map):
show_gps_and_sim_positions(mavproxy, True)
# set-up gps glitch array
glitch_lat = [0.0002996, 0.0006958, 0.0009431, 0.0009991, 0.0009444, 0.0007716, 0.0006221]
glitch_lon = [0.0000717, 0.0000912, 0.0002761, 0.0002626, 0.0002807, 0.0002049, 0.0001304]
glitch_num = len(glitch_lat)
print("GPS Glitches:")
for i in range(1, glitch_num):
print("glitch %d %.7f %.7f" % (i, glitch_lat[i], glitch_lon[i]))
# turn south east
print("turn south east")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 150):
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False
mavproxy.send('rc 4 1500\n')
# fly forward (south east) at least 60m
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 60):
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False
mavproxy.send('rc 2 1500\n')
# wait for copter to slow down
if not wait_groundspeed(mav, 0, 1):
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False
# record time and position
tstart = get_sim_time(mav)
tnow = tstart
start_pos = sim_location(mav)
success = True
# initialise current glitch
glitch_current = 0
print("Apply first glitch")
mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' % glitch_lon[glitch_current])
# record position for 30 seconds
while tnow < tstart + timeout:
tnow = get_sim_time(mav)
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# turn off glitching if we've reached the end of the glitch list
if glitch_current >= glitch_num:
glitch_current = -1
print("Completed Glitches")
mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
else:
print("Applying glitch %u" % glitch_current)
# move onto the next glitch
mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' % glitch_lon[glitch_current])
# start displaying distance moved after all glitches applied
if (glitch_current == -1):
m = mav.recv_match(type='VFR_HUD', blocking=True)
curr_pos = sim_location(mav)
moved_distance = get_distance(curr_pos, start_pos)
print("Alt: %u Moved: %.0f" % (m.alt, moved_distance))
if moved_distance > max_distance:
print("Moved over %u meters, Failed!" % max_distance)
success = False
# disable gps glitch
if glitch_current != -1:
glitch_current = -1
mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
if success:
print("GPS glitch test passed! stayed within %u meters for %u seconds" % (max_distance, timeout))
else:
print("GPS glitch test FAILED!")
return success
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(mavproxy, mav, use_map=False, timeout=120):
# set-up gps glitch array
glitch_lat = [0.0002996, 0.0006958, 0.0009431, 0.0009991, 0.0009444, 0.0007716, 0.0006221]
glitch_lon = [0.0000717, 0.0000912, 0.0002761, 0.0002626, 0.0002807, 0.0002049, 0.0001304]
glitch_num = len(glitch_lat)
print("GPS Glitches:")
for i in range(1, glitch_num):
print("glitch %d %.7f %.7f" % (i, glitch_lat[i], glitch_lon[i]))
# Fly mission #1
print("# Load copter_glitch_mission")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_glitch_mission.txt")):
print("load copter_glitch_mission failed")
return False
# turn on simulator display of gps and actual position
if (use_map):
show_gps_and_sim_positions(mavproxy, True)
# load the waypoint count
global homeloc
global num_wp
print("test: Fly a mission from 1 to %u" % num_wp)
mavproxy.send('wp set 1\n')
# switch into AUTO mode and raise throttle
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
mavproxy.send('rc 3 1500\n')
# wait until 100m from home
if not wait_distance(mav, 100, 5, 60):
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False
# record time and position
tstart = get_sim_time(mav)
tnow = tstart
# initialise current glitch
glitch_current = 0
print("Apply first glitch")
mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' % glitch_lon[glitch_current])
# record position for 30 seconds
while glitch_current < glitch_num:
tnow = get_sim_time(mav)
desired_glitch_num = int((tnow - tstart) * 2.2)
if desired_glitch_num > glitch_current and glitch_current != -1:
glitch_current = desired_glitch_num
# apply next glitch
if glitch_current < glitch_num:
print("Applying glitch %u" % glitch_current)
mavproxy.send('param set SIM_GPS_GLITCH_X %.7f\n' % glitch_lat[glitch_current])
mavproxy.send('param set SIM_GPS_GLITCH_Y %.7f\n' % glitch_lon[glitch_current])
# turn off glitching
print("Completed Glitches")
mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
# continue with the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# wait for arrival back home
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
dist_to_home = get_distance(HOME, pos)
while dist_to_home > 5:
if get_sim_time(mav) > (tstart + timeout):
print("GPS Glitch testing failed - exceeded timeout %u seconds" % timeout)
ret = False
break
m = mav.recv_match(type='VFR_HUD', blocking=True)
pos = mav.location()
dist_to_home = get_distance(HOME, pos)
print("Dist from home: %u" % dist_to_home)
# turn off simulator display of gps and actual position
if (use_map):
show_gps_and_sim_positions(mavproxy, False)
print("GPS Glitch test Auto completed: passed=%s" % ret)
return ret
# fly_simple - assumes the simple bearing is initialised to be directly north
# flies a box with 100m west, 15 seconds north, 50 seconds east, 15 seconds south
def fly_simple(mavproxy, mav, side=50, timeout=120):
failed = False
# hold position in loiter
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# set SIMPLE mode for all flight modes
mavproxy.send('param set SIMPLE 63\n')
# switch to stabilize mode
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1500\n')
# fly south 50m
print("# Flying south %u meters" % side)
mavproxy.send('rc 1 1300\n')
if not wait_distance(mav, side, 5, 60):
failed = True
mavproxy.send('rc 1 1500\n')
# fly west 8 seconds
print("# Flying west for 8 seconds")
mavproxy.send('rc 2 1300\n')
tstart = get_sim_time(mav)
while get_sim_time(mav) < (tstart + 8):
m = mav.recv_match(type='VFR_HUD', blocking=True)
delta = (get_sim_time(mav) - tstart)
# print("%u" % delta)
mavproxy.send('rc 2 1500\n')
# fly north 25 meters
print("# Flying north %u meters" % (side/2.0))
mavproxy.send('rc 1 1700\n')
if not wait_distance(mav, side/2, 5, 60):
failed = True
mavproxy.send('rc 1 1500\n')
# fly east 8 seconds
print("# Flying east for 8 seconds")
mavproxy.send('rc 2 1700\n')
tstart = get_sim_time(mav)
while get_sim_time(mav) < (tstart + 8):
m = mav.recv_match(type='VFR_HUD', blocking=True)
delta = (get_sim_time(mav) - tstart)
# print("%u" % delta)
mavproxy.send('rc 2 1500\n')
# restore to default
mavproxy.send('param set SIMPLE 0\n')
# hover in place
hover(mavproxy, mav)
return not failed
# fly_super_simple - flies a circle around home for 45 seconds
def fly_super_simple(mavproxy, mav, timeout=45):
failed = False
# hold position in loiter
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# fly forward 20m
print("# Flying forward 20 meters")
mavproxy.send('rc 2 1300\n')
if not wait_distance(mav, 20, 5, 60):
failed = True
mavproxy.send('rc 2 1500\n')
# set SUPER SIMPLE mode for all flight modes
mavproxy.send('param set SUPER_SIMPLE 63\n')
# switch to stabilize mode
mavproxy.send('switch 6\n')
wait_mode(mav, 'STABILIZE')
mavproxy.send('rc 3 1500\n')
# start copter yawing slowly
mavproxy.send('rc 4 1550\n')
# roll left for timeout seconds
print("# rolling left from pilot's point of view for %u seconds" % timeout)
mavproxy.send('rc 1 1300\n')
tstart = get_sim_time(mav)
while get_sim_time(mav) < (tstart + timeout):
m = mav.recv_match(type='VFR_HUD', blocking=True)
delta = (get_sim_time(mav) - tstart)
# stop rolling and yawing
mavproxy.send('rc 1 1500\n')
mavproxy.send('rc 4 1500\n')
# restore simple mode parameters to default
mavproxy.send('param set SUPER_SIMPLE 0\n')
# hover in place
hover(mavproxy, mav)
return not failed
# fly_circle - flies a circle with 20m radius
def fly_circle(mavproxy, mav, maxaltchange=10, holdtime=36):
# hold position in loiter
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
# face west
print("turn west")
mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 270):
return False
mavproxy.send('rc 4 1500\n')
# set CIRCLE radius
mavproxy.send('param set CIRCLE_RADIUS 3000\n')
# fly forward (east) at least 100m
mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 100):
return False
# return pitch stick back to middle
mavproxy.send('rc 2 1500\n')
# set CIRCLE mode
mavproxy.send('switch 1\n') # circle mode
wait_mode(mav, 'CIRCLE')
# wait
m = mav.recv_match(type='VFR_HUD', blocking=True)
start_altitude = m.alt
tstart = get_sim_time(mav)
tholdstart = get_sim_time(mav)
print("Circle at %u meters for %u seconds" % (start_altitude, holdtime))
while get_sim_time(mav) < tstart + holdtime:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("heading %u" % m.heading)
print("CIRCLE OK for %u seconds" % holdtime)
return True
# fly_auto_test - fly mission which tests a significant number of commands
def fly_auto_test(mavproxy, mav):
# Fly mission #1
print("# Load copter_mission")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_mission.txt")):
print("load copter_mission failed")
return False
# load the waypoint count
global homeloc
global num_wp
print("test: Fly a mission from 1 to %u" % num_wp)
mavproxy.send('wp set 1\n')
# switch into AUTO mode and raise throttle
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
mavproxy.send('rc 3 1500\n')
# fly the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# land if mission failed
if ret is False:
land(mavproxy, mav)
# set throttle to minimum
mavproxy.send('rc 3 1000\n')
# wait for disarm
mav.motors_disarmed_wait()
print("MOTORS DISARMED OK")
print("Auto mission completed: passed=%s" % ret)
return ret
# fly_avc_test - fly AVC mission
def fly_avc_test(mavproxy, mav):
# upload mission from file
print("# Load copter_AVC2013_mission")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "copter_AVC2013_mission.txt")):
print("load copter_AVC2013_mission failed")
return False
# load the waypoint count
global homeloc
global num_wp
print("Fly AVC mission from 1 to %u" % num_wp)
mavproxy.send('wp set 1\n')
# switch into AUTO mode and raise throttle
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
mavproxy.send('rc 3 1500\n')
# fly the mission
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
# set throttle to minimum
mavproxy.send('rc 3 1000\n')
# wait for disarm
mav.motors_disarmed_wait()
print("MOTORS DISARMED OK")
print("AVC mission completed: passed=%s" % ret)
return ret
def land(mavproxy, mav, timeout=60):
"""Land the quad."""
print("STARTING LANDING")
mavproxy.send('switch 2\n') # land mode
wait_mode(mav, 'LAND')
print("Entered Landing Mode")
ret = wait_altitude(mav, -5, 1)
print("LANDING: ok= %s" % ret)
return ret
def fly_mission(mavproxy, mav, height_accuracy=-1.0, target_altitude=None):
"""Fly a mission from a file."""
global homeloc
global num_wp
print("test: Fly a mission from 1 to %u" % num_wp)
mavproxy.send('wp set 1\n')
mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO')
ret = wait_waypoint(mav, 0, num_wp-1, timeout=500)
expect_msg = "Reached command #%u" % (num_wp-1)
if (ret):
mavproxy.expect(expect_msg)
print("test: MISSION COMPLETE: passed=%s" % ret)
# wait here until ready
mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER')
return ret
def load_mission_from_file(mavproxy, mav, filename):
"""Load a mission from a file to flight controller."""
global num_wp
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('Flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
# update num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return True
def save_mission_to_file(mavproxy, mav, filename):
global num_wp
mavproxy.send('wp save %s\n' % filename)
mavproxy.expect('Saved ([0-9]+) waypoints')
num_wp = int(mavproxy.match.group(1))
print("num_wp: %d" % num_wp)
return True
def setup_rc(mavproxy):
"""Setup RC override control."""
for chan in range(1, 9):
mavproxy.send('rc %u 1500\n' % chan)
# zero throttle
mavproxy.send('rc 3 1000\n')
def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL.
you can pass viewerip as an IP address to optionally send fg and
mavproxy packets too for local viewing of the flight in real time
"""
global homeloc
if frame is None:
frame = '+'
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduCopter-test.tlog")
print("buildlog=%s" % buildlog)
copy_tlog = False
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
print("WARN: Failed to create symlink: " + logfile + " => " + buildlog + ", Will copy tlog manually to target location")
copy_tlog = True
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
wait_ready_to_arm(mavproxy)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a square in Stabilize mode
print("#")
print("########## Fly a square and save WPs with CH7 switch ##########")
print("#")
if not fly_square(mavproxy, mav):
failed_test_msg = "fly_square failed"
print(failed_test_msg)
failed = True
# save the stored mission to file
print("# Save out the CH7 mission to file")
if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
failed_test_msg = "save_mission_to_file failed"
print(failed_test_msg)
failed = True
# fly the stored mission
print("# Fly CH7 saved mission")
if not fly_mission(mavproxy, mav, height_accuracy=0.5, target_altitude=10):
failed_test_msg = "fly ch7_mission failed"
print(failed_test_msg)
failed = True
# Throttle Failsafe
print("#")
print("########## Test Failsafe ##########")
print("#")
if not fly_throttle_failsafe(mavproxy, mav):
failed_test_msg = "fly_throttle_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Battery failsafe
if not fly_battery_failsafe(mavproxy, mav):
failed_test_msg = "fly_battery_failsafe failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Stability patch
print("#")
print("########## Test Stability Patch ##########")
print("#")
if not fly_stability_patch(mavproxy, mav, 30):
failed_test_msg = "fly_stability_patch failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after stab patch failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fence test
print("#")
print("########## Test Horizontal Fence ##########")
print("#")
if not fly_fence_test(mavproxy, mav, 180):
failed_test_msg = "fly_fence_test failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch Loiter test
print("# GPS Glitch Loiter Test")
if not fly_gps_glitch_loiter_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_loiter_test failed"
print(failed_test_msg)
failed = True
# RTL after GPS Glitch Loiter test
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL failed"
print(failed_test_msg)
failed = True
# Fly GPS Glitch test in auto mode
print("# GPS Glitch Auto Test")
if not fly_gps_glitch_auto_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_auto_test failed"
print(failed_test_msg)
failed = True
# take-off ahead of next test
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Loiter for 10 seconds
print("#")
print("########## Test Loiter for 10 seconds ##########")
print("#")
if not loiter(mavproxy, mav):
failed_test_msg = "loiter failed"
print(failed_test_msg)
failed = True
# Loiter Climb
print("#")
print("# Loiter - climb to 30m")
print("#")
if not change_alt(mavproxy, mav, 30):
failed_test_msg = "change_alt climb failed"
print(failed_test_msg)
failed = True
# Loiter Descend
print("#")
print("# Loiter - descend to 20m")
print("#")
if not change_alt(mavproxy, mav, 20):
failed_test_msg = "change_alt descend failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after Loiter climb/descend failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Simple mode
print("# Fly in SIMPLE mode")
if not fly_simple(mavproxy, mav):
failed_test_msg = "fly_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Fly a circle in super simple mode
print("# Fly a circle in SUPER SIMPLE mode")
if not fly_super_simple(mavproxy, mav):
failed_test_msg = "fly_super_simple failed"
print(failed_test_msg)
failed = True
# RTL
print("# RTL #")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after super simple mode failed"
print(failed_test_msg)
failed = True
# Takeoff
print("# Takeoff")
if not takeoff(mavproxy, mav, 10):
failed_test_msg = "takeoff failed"
print(failed_test_msg)
failed = True
# Circle mode
print("# Fly CIRCLE mode")
if not fly_circle(mavproxy, mav):
failed_test_msg = "fly_circle failed"
print(failed_test_msg)
failed = True
# RTL
print("#")
print("########## Test RTL ##########")
print("#")
if not fly_RTL(mavproxy, mav):
failed_test_msg = "fly_RTL after circle failed"
print(failed_test_msg)
failed = True
print("# Fly copter mission")
if not fly_auto_test(mavproxy, mav):
failed_test_msg = "fly_auto_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew copter mission OK")
# wait for disarm
mav.motors_disarmed_wait()
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduCopter-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='+')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/ArduCopter-valgrind.log"))
# [2014/05/07] FC Because I'm doing a cross machine build (source is on host, build is on guest VM) I cannot hard link
# This flag tells me that I need to copy the data out
if copy_tlog:
shutil.copy(logfile, buildlog)
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True
def fly_CopterAVC(binary, viewerip=None, use_map=False, valgrind=False, gdb=False, frame=None, params=None, gdbserver=False, speedup=10):
"""Fly ArduCopter in SITL for AVC2013 mission."""
global homeloc
if frame is None:
frame = 'heli'
home = "%f,%f,%u,%u" % (AVCHOME.lat, AVCHOME.lng, AVCHOME.alt, AVCHOME.heading)
sitl = util.start_SITL(binary, wipe=True, model=frame, home=home, speedup=speedup)
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options='--sitl=127.0.0.1:5501 --out=127.0.0.1:19550')
mavproxy.expect('Received [0-9]+ parameters')
# setup test parameters
if params is None:
params = vinfo.options["ArduCopter"]["frames"][frame]["default_params_filename"]
if not isinstance(params, list):
params = [params]
for x in params:
mavproxy.send("param load %s\n" % os.path.join(testdir, x))
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param set LOG_REPLAY 1\n")
mavproxy.send("param set LOG_DISARMED 1\n")
time.sleep(3)
# reboot with new parameters
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model='heli', home=home, speedup=speedup, valgrind=valgrind, gdb=gdb, gdbserver=gdbserver)
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=5'
if viewerip:
options += ' --out=%s:14550' % viewerip
if use_map:
options += ' --map'
mavproxy = util.start_MAVProxy_SITL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/CopterAVC-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
# the received parameters can come before or after the ready to fly message
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
mavproxy.expect(['Received [0-9]+ parameters', 'Ready to FLY'])
util.expect_setup_callback(mavproxy, expect_callback)
expect_list_clear()
expect_list_extend([sitl, mavproxy])
if use_map:
mavproxy.send('map icon 40.072467969730496 -105.2314389590174\n')
mavproxy.send('map icon 40.072600990533829 -105.23146100342274\n')
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception as msg:
print("Failed to start mavlink connection on 127.0.0.1:19550" % msg)
raise
mav.message_hooks.append(message_hook)
mav.idle_hooks.append(idle_hook)
failed = False
failed_test_msg = "None"
try:
mav.wait_heartbeat()
setup_rc(mavproxy)
homeloc = mav.location()
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
wait_ready_to_arm(mavproxy)
# Arm
print("# Arm motors")
if not arm_motors(mavproxy, mav):
failed_test_msg = "arm_motors failed"
print(failed_test_msg)
failed = True
print("Raising rotor speed")
mavproxy.send('rc 8 2000\n')
print("# Fly AVC mission")
if not fly_avc_test(mavproxy, mav):
failed_test_msg = "fly_avc_test failed"
print(failed_test_msg)
failed = True
else:
print("Flew AVC mission OK")
print("Lowering rotor speed")
mavproxy.send('rc 8 1000\n')
# mission includes disarm at end so should be ok to download logs now
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/CopterAVC-log.bin")):
failed_test_msg = "log_download failed"
print(failed_test_msg)
failed = True
except pexpect.TIMEOUT as failed_test_msg:
failed_test_msg = "Timeout"
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
valgrind_log = util.valgrind_log_filepath(binary=binary, model='heli')
if os.path.exists(valgrind_log):
os.chmod(valgrind_log, 0o644)
shutil.copy(valgrind_log, util.reltopdir("../buildlogs/Helicopter-valgrind.log"))
if failed:
print("FAILED: %s" % failed_test_msg)
return False
return True