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214 lines
7.4 KiB
214 lines
7.4 KiB
#!/usr/bin/env python |
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# Fly ArduPlane QuadPlane in SITL |
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from __future__ import print_function |
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import os |
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import pexpect |
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from pymavlink import mavutil |
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from common import AutoTest |
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from pysim import util |
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from pysim import vehicleinfo |
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import operator |
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# get location of scripts |
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testdir = os.path.dirname(os.path.realpath(__file__)) |
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HOME = mavutil.location(-27.274439, 151.290064, 343, 8.7) |
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MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt' |
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FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt' |
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WIND = "0,180,0.2" # speed,direction,variance |
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class AutoTestQuadPlane(AutoTest): |
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def __init__(self, |
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binary, |
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valgrind=False, |
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gdb=False, |
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speedup=10, |
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frame=None, |
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params=None, |
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gdbserver=False, |
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breakpoints=[], |
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**kwargs): |
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super(AutoTestQuadPlane, self).__init__(**kwargs) |
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self.binary = binary |
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self.valgrind = valgrind |
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self.gdb = gdb |
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self.frame = frame |
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self.params = params |
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self.gdbserver = gdbserver |
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self.breakpoints = breakpoints |
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self.home = "%f,%f,%u,%u" % (HOME.lat, |
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HOME.lng, |
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HOME.alt, |
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HOME.heading) |
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self.homeloc = None |
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self.speedup = speedup |
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self.log_name = "QuadPlane" |
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self.logfile = None |
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self.sitl = None |
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def init(self): |
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super(AutoTestQuadPlane, self).init(os.path.realpath(__file__)) |
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if self.frame is None: |
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self.frame = 'quadplane' |
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self.mavproxy_logfile = self.open_mavproxy_logfile() |
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vinfo = vehicleinfo.VehicleInfo() |
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defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"] |
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defaults_filepath = os.path.join(testdir, defaults_file) |
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self.sitl = util.start_SITL(self.binary, |
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wipe=True, |
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model=self.frame, |
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home=self.home, |
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speedup=self.speedup, |
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defaults_file=defaults_filepath, |
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valgrind=self.valgrind, |
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gdb=self.gdb, |
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gdbserver=self.gdbserver, |
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breakpoints=self.breakpoints, |
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) |
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self.mavproxy = util.start_MAVProxy_SITL( |
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'QuadPlane', options=self.mavproxy_options()) |
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self.mavproxy.expect('Telemetry log: (\S+)\r\n') |
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self.logfile = self.mavproxy.match.group(1) |
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self.progress("LOGFILE %s" % self.logfile) |
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self.try_symlink_tlog() |
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self.mavproxy.expect('Received [0-9]+ parameters') |
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util.expect_setup_callback(self.mavproxy, self.expect_callback) |
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self.expect_list_clear() |
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self.expect_list_extend([self.sitl, self.mavproxy]) |
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self.progress("Started simulator") |
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self.get_mavlink_connection_going() |
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self.progress("Ready to start testing!") |
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def is_plane(self): |
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return True |
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def get_rudder_channel(self): |
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return int(self.get_parameter("RCMAP_YAW")) |
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def get_disarm_delay(self): |
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return int(self.get_parameter("LAND_DISARMDELAY")) |
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def set_autodisarm_delay(self, delay): |
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self.set_parameter("LAND_DISARMDELAY", delay) |
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def test_motor_mask(self): |
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"""Check operation of output_motor_mask""" |
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"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)""" |
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if not(int(self.get_parameter('Q_TILT_MASK')) & 1): |
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self.progress("output_motor_mask not in use") |
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return |
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self.progress("Testing output_motor_mask") |
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self.wait_ready_to_arm() |
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"""Default channel for Motor1 is 5""" |
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self.progress('Assert that SERVO5 is Motor1') |
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assert(33 == self.get_parameter('SERVO5_FUNCTION')) |
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modes = ('MANUAL', 'FBWA', 'QHOVER') |
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for mode in modes: |
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self.progress("Testing %s mode" % mode) |
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self.change_mode(mode) |
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self.arm_vehicle() |
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self.progress("Raising throttle") |
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self.set_rc(3, 1800) |
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self.progress("Waiting for Motor1 to start") |
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self.wait_servo_channel_value(5, 1100, comparator=operator.gt) |
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self.set_rc(3, 1000) |
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self.disarm_vehicle() |
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self.wait_ready_to_arm() |
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def fly_mission(self, filename, fence, height_accuracy=-1): |
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"""Fly a mission from a file.""" |
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self.progress("Flying mission %s" % filename) |
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self.load_mission(filename) |
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self.mavproxy.send('fence load %s\n' % fence) |
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self.mavproxy.send('wp list\n') |
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self.mavproxy.expect('Requesting [0-9]+ waypoints') |
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self.wait_ready_to_arm() |
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self.arm_vehicle() |
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self.mavproxy.send('mode AUTO\n') |
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self.wait_mode('AUTO') |
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self.wait_waypoint(1, 19, max_dist=60, timeout=1200) |
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self.mav.motors_disarmed_wait() |
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# wait for blood sample here |
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self.mavproxy.send('wp set 20\n') |
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self.wait_ready_to_arm() |
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self.arm_vehicle() |
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self.wait_waypoint(20, 34, max_dist=60, timeout=1200) |
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self.mav.motors_disarmed_wait() |
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self.progress("Mission OK") |
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def fly_qautotune(self): |
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self.change_mode("QHOVER") |
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self.wait_ready_to_arm() |
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self.arm_vehicle() |
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self.set_rc(3, 1800) |
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self.wait_altitude(30, |
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40, |
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relative=True, |
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timeout=30) |
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self.set_rc(3, 1500) |
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self.change_mode("QAUTOTUNE") |
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tstart = self.get_sim_time() |
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sim_time_expected = 5000 |
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deadline = tstart + sim_time_expected |
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while self.get_sim_time_cached() < deadline: |
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now = self.get_sim_time_cached() |
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m = self.mav.recv_match(type='STATUSTEXT', |
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blocking=True, |
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timeout=1) |
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if m is None: |
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continue |
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self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text)) |
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if "AutoTune: Success" in m.text: |
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self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart)) |
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# near enough for now: |
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self.change_mode("QLAND") |
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self.mavproxy.expect("AutoTune: Saved gains for Roll Pitch Yaw") |
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self.mav.motors_disarmed_wait() |
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return |
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self.mav.motors_disarmed_wait() |
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def default_mode(self): |
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return "MANUAL" |
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def disabled_tests(self): |
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return { |
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"QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411", |
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} |
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def tests(self): |
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'''return list of all tests''' |
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m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt") |
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f = os.path.join(testdir, |
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"ArduPlane-Missions/Dalby-OBC2016-fence.txt") |
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ret = super(AutoTestQuadPlane, self).tests() |
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ret.extend([ |
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("ArmFeatures", "Arm features", self.test_arm_feature), |
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("TestMotorMask", "Test output_motor_mask", self.test_motor_mask), |
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("QAutoTune", "Fly QAUTOTUNE mode", self.fly_qautotune), |
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("Mission", "Dalby Mission", |
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lambda: self.fly_mission(m, f)) |
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]) |
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return ret
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