ardupilot/Tools/autotest/quadplane.py

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#!/usr/bin/env python
# Fly ArduPlane QuadPlane in SITL
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from __future__ import print_function
import os
import pexpect
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from pymavlink import mavutil
from common import AutoTest
from pysim import util
from pysim import vehicleinfo
import operator
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# get location of scripts
testdir = os.path.dirname(os.path.realpath(__file__))
SITL_START_LOCATION = mavutil.location(-27.274439, 151.290064, 343, 8.7)
MISSION = 'ArduPlane-Missions/Dalby-OBC2016.txt'
FENCE = 'ArduPlane-Missions/Dalby-OBC2016-fence.txt'
WIND = "0,180,0.2" # speed,direction,variance
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class AutoTestQuadPlane(AutoTest):
def default_frame(self):
return "quadplane"
def test_filepath(self):
return os.path.realpath(__file__)
def sitl_start_location(self):
return SITL_START_LOCATION
def log_name(self):
return "QuadPlane"
def apply_defaultfile_parameters(self):
# plane passes in a defaults_file in place of applying
# parameters afterwards.
pass
def defaults_filepath(self):
vinfo = vehicleinfo.VehicleInfo()
defaults_file = vinfo.options["ArduPlane"]["frames"][self.frame]["default_params_filename"]
if isinstance(defaults_file, str):
defaults_file = [defaults_file]
defaults_list = []
for d in defaults_file:
defaults_list.append(os.path.join(testdir, d))
return ','.join(defaults_list)
def is_plane(self):
return True
def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_YAW"))
def get_disarm_delay(self):
return int(self.get_parameter("LAND_DISARMDELAY"))
def set_autodisarm_delay(self, delay):
self.set_parameter("LAND_DISARMDELAY", delay)
def test_motor_mask(self):
"""Check operation of output_motor_mask"""
"""copter tailsitters will add condition: or (int(self.get_parameter('Q_TAILSIT_MOTMX')) & 1)"""
if not(int(self.get_parameter('Q_TILT_MASK')) & 1):
self.progress("output_motor_mask not in use")
return
self.progress("Testing output_motor_mask")
self.wait_ready_to_arm()
"""Default channel for Motor1 is 5"""
self.progress('Assert that SERVO5 is Motor1')
assert(33 == self.get_parameter('SERVO5_FUNCTION'))
modes = ('MANUAL', 'FBWA', 'QHOVER')
for mode in modes:
self.progress("Testing %s mode" % mode)
self.change_mode(mode)
self.arm_vehicle()
self.progress("Raising throttle")
self.set_rc(3, 1800)
self.progress("Waiting for Motor1 to start")
self.wait_servo_channel_value(5, 1100, comparator=operator.gt)
self.set_rc(3, 1000)
self.disarm_vehicle()
self.wait_ready_to_arm()
def fly_mission(self, filename, fence, height_accuracy=-1):
"""Fly a mission from a file."""
self.progress("Flying mission %s" % filename)
self.load_mission(filename)
self.mavproxy.send('fence load %s\n' % fence)
self.mavproxy.send('wp list\n')
self.mavproxy.expect('Requesting [0-9]+ waypoints')
self.wait_ready_to_arm()
self.arm_vehicle()
self.mavproxy.send('mode AUTO\n')
self.wait_mode('AUTO')
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
# wait for blood sample here
self.mavproxy.send('wp set 20\n')
self.wait_ready_to_arm()
self.arm_vehicle()
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
self.mav.motors_disarmed_wait()
self.progress("Mission OK")
def fly_qautotune(self):
self.change_mode("QHOVER")
self.wait_ready_to_arm()
self.arm_vehicle()
self.set_rc(3, 1800)
self.wait_altitude(30,
40,
relative=True,
timeout=30)
self.set_rc(3, 1500)
self.change_mode("QAUTOTUNE")
tstart = self.get_sim_time()
sim_time_expected = 5000
deadline = tstart + sim_time_expected
while self.get_sim_time_cached() < deadline:
now = self.get_sim_time_cached()
m = self.mav.recv_match(type='STATUSTEXT',
blocking=True,
timeout=1)
if m is None:
continue
self.progress("STATUSTEXT (%u<%u): %s" % (now, deadline, m.text))
if "AutoTune: Success" in m.text:
self.progress("AUTOTUNE OK (%u seconds)" % (now - tstart))
# near enough for now:
self.change_mode("QLAND")
self.mavproxy.expect("AutoTune: Saved gains for Roll Pitch Yaw")
self.mav.motors_disarmed_wait()
return
self.mav.motors_disarmed_wait()
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def test_pid_tuning(self):
self.change_mode("FBWA") # we don't update PIDs in MANUAL
super(AutoTestQuadPlane, self).test_pid_tuning()
def test_parameter_checks(self):
self.test_parameter_checks_poscontrol("Q_P")
def default_mode(self):
return "MANUAL"
def disabled_tests(self):
return {
"QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411",
}
def tests(self):
'''return list of all tests'''
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
f = os.path.join(testdir,
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")
ret = super(AutoTestQuadPlane, self).tests()
ret.extend([
("TestMotorMask", "Test output_motor_mask", self.test_motor_mask),
("QAutoTune", "Fly QAUTOTUNE mode", self.fly_qautotune),
("ParameterChecks",
"Test Arming Parameter Checks",
self.test_parameter_checks),
("Mission", "Dalby Mission",
lambda: self.fly_mission(m, f))
])
return ret