ardupilot/Tools/autotest/arduplane.py

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# fly ArduPlane in SIL
import util, pexpect, sys, time, math, shutil, os
from common import *
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from pymavlink import mavutil
import random
# get location of scripts
testdir=os.path.dirname(os.path.realpath(__file__))
HOME_LOCATION='-35.362938,149.165085,585,354'
WIND="0,180,0.2" # speed,direction,variance
homeloc = None
def takeoff(mavproxy, mav):
'''takeoff get to 30m altitude'''
# wait for EKF to settle
wait_seconds(mav, 15)
mavproxy.send('arm throttle\n')
mavproxy.expect('ARMED')
mavproxy.send('switch 4\n')
wait_mode(mav, 'FBWA')
# some rudder to counteract the prop torque
mavproxy.send('rc 4 1700\n')
# some up elevator to keep the tail down
mavproxy.send('rc 2 1200\n')
# get it moving a bit first
mavproxy.send('rc 3 1300\n')
mav.recv_match(condition='VFR_HUD.groundspeed>6', blocking=True)
# a bit faster again, straighten rudder
mavproxy.send('rc 3 1600\n')
mavproxy.send('rc 4 1500\n')
mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
# hit the gas harder now, and give it some more elevator
mavproxy.send('rc 2 1100\n')
mavproxy.send('rc 3 2000\n')
# gain a bit of altitude
if not wait_altitude(mav, homeloc.alt+150, homeloc.alt+180, timeout=30):
return False
# level off
mavproxy.send('rc 2 1500\n')
print("TAKEOFF COMPLETE")
return True
def fly_left_circuit(mavproxy, mav):
'''fly a left circuit, 200m on a side'''
mavproxy.send('switch 4\n')
wait_mode(mav, 'FBWA')
mavproxy.send('rc 3 2000\n')
if not wait_level_flight(mavproxy, mav):
return False
print("Flying left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1000\n')
if not wait_heading(mav, 270 - (90*i), accuracy=10):
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 100, accuracy=20):
return False
print("Circuit complete")
return True
def fly_RTL(mavproxy, mav):
'''fly to home'''
print("Flying home in RTL")
mavproxy.send('switch 2\n')
wait_mode(mav, 'RTL')
if not wait_location(mav, homeloc, accuracy=120,
target_altitude=homeloc.alt+100, height_accuracy=20,
timeout=180):
return False
print("RTL Complete")
return True
def fly_LOITER(mavproxy, mav, num_circles=4):
'''loiter where we are'''
print("Testing LOITER for %u turns" % num_circles)
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mavproxy.send('loiter\n')
wait_mode(mav, 'LOITER')
m = mav.recv_match(type='VFR_HUD', blocking=True)
initial_alt = m.alt
print("Initial altitude %u\n" % initial_alt)
while num_circles > 0:
if not wait_heading(mav, 0, accuracy=10, timeout=60):
return False
if not wait_heading(mav, 180, accuracy=10, timeout=60):
return False
num_circles -= 1
print("Loiter %u circles left" % num_circles)
m = mav.recv_match(type='VFR_HUD', blocking=True)
final_alt = m.alt
print("Final altitude %u initial %u\n" % (final_alt, initial_alt))
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
if abs(final_alt - initial_alt) > 20:
print("Failed to maintain altitude")
return False
print("Completed Loiter OK")
return True
def fly_CIRCLE(mavproxy, mav, num_circles=1):
'''circle where we are'''
print("Testing CIRCLE for %u turns" % num_circles)
mavproxy.send('mode CIRCLE\n')
wait_mode(mav, 'CIRCLE')
m = mav.recv_match(type='VFR_HUD', blocking=True)
initial_alt = m.alt
print("Initial altitude %u\n" % initial_alt)
while num_circles > 0:
if not wait_heading(mav, 0, accuracy=10, timeout=60):
return False
if not wait_heading(mav, 180, accuracy=10, timeout=60):
return False
num_circles -= 1
print("CIRCLE %u circles left" % num_circles)
m = mav.recv_match(type='VFR_HUD', blocking=True)
final_alt = m.alt
print("Final altitude %u initial %u\n" % (final_alt, initial_alt))
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
if abs(final_alt - initial_alt) > 20:
print("Failed to maintain altitude")
return False
print("Completed CIRCLE OK")
return True
def wait_level_flight(mavproxy, mav, accuracy=5, timeout=30):
'''wait for level flight'''
tstart = get_sim_time(mav)
print("Waiting for level flight")
mavproxy.send('rc 1 1500\n')
mavproxy.send('rc 2 1500\n')
mavproxy.send('rc 4 1500\n')
while get_sim_time(mav) < tstart + timeout:
m = mav.recv_match(type='ATTITUDE', blocking=True)
roll = math.degrees(m.roll)
pitch = math.degrees(m.pitch)
print("Roll=%.1f Pitch=%.1f" % (roll, pitch))
if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
print("Attained level flight")
return True
print("Failed to attain level flight")
return False
def change_altitude(mavproxy, mav, altitude, accuracy=30):
'''get to a given altitude'''
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
alt_error = mav.messages['VFR_HUD'].alt - altitude
if alt_error > 0:
mavproxy.send('rc 2 2000\n')
else:
mavproxy.send('rc 2 1000\n')
if not wait_altitude(mav, altitude-accuracy/2, altitude+accuracy/2):
return False
mavproxy.send('rc 2 1500\n')
print("Reached target altitude at %u" % mav.messages['VFR_HUD'].alt)
return wait_level_flight(mavproxy, mav)
def axial_left_roll(mavproxy, mav, count=1):
'''fly a left axial roll'''
# full throttle!
mavproxy.send('rc 3 2000\n')
if not change_altitude(mavproxy, mav, homeloc.alt+300):
return False
# fly the roll in manual
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
while count > 0:
print("Starting roll")
mavproxy.send('rc 1 1000\n')
if not wait_roll(mav, -150, accuracy=90):
mavproxy.send('rc 1 1500\n')
return False
if not wait_roll(mav, 150, accuracy=90):
mavproxy.send('rc 1 1500\n')
return False
if not wait_roll(mav, 0, accuracy=90):
mavproxy.send('rc 1 1500\n')
return False
count -= 1
# back to FBWA
mavproxy.send('rc 1 1500\n')
mavproxy.send('switch 4\n')
wait_mode(mav, 'FBWA')
mavproxy.send('rc 3 1700\n')
return wait_level_flight(mavproxy, mav)
def inside_loop(mavproxy, mav, count=1):
'''fly a inside loop'''
# full throttle!
mavproxy.send('rc 3 2000\n')
if not change_altitude(mavproxy, mav, homeloc.alt+300):
return False
# fly the loop in manual
mavproxy.send('switch 6\n')
wait_mode(mav, 'MANUAL')
while count > 0:
print("Starting loop")
mavproxy.send('rc 2 1000\n')
if not wait_pitch(mav, -60, accuracy=20):
return False
if not wait_pitch(mav, 0, accuracy=20):
return False
count -= 1
# back to FBWA
mavproxy.send('rc 2 1500\n')
mavproxy.send('switch 4\n')
wait_mode(mav, 'FBWA')
mavproxy.send('rc 3 1700\n')
return wait_level_flight(mavproxy, mav)
def test_stabilize(mavproxy, mav, count=1):
'''fly stabilize mode'''
# full throttle!
mavproxy.send('rc 3 2000\n')
mavproxy.send('rc 2 1300\n')
if not change_altitude(mavproxy, mav, homeloc.alt+300):
return False
mavproxy.send('rc 2 1500\n')
mavproxy.send("mode STABILIZE\n")
wait_mode(mav, 'STABILIZE')
count = 1
while count > 0:
print("Starting roll")
mavproxy.send('rc 1 2000\n')
if not wait_roll(mav, -150, accuracy=90):
return False
if not wait_roll(mav, 150, accuracy=90):
return False
if not wait_roll(mav, 0, accuracy=90):
return False
count -= 1
mavproxy.send('rc 1 1500\n')
if not wait_roll(mav, 0, accuracy=5):
return False
# back to FBWA
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
mavproxy.send('rc 3 1700\n')
return wait_level_flight(mavproxy, mav)
def test_acro(mavproxy, mav, count=1):
'''fly ACRO mode'''
# full throttle!
mavproxy.send('rc 3 2000\n')
mavproxy.send('rc 2 1300\n')
if not change_altitude(mavproxy, mav, homeloc.alt+300):
return False
mavproxy.send('rc 2 1500\n')
mavproxy.send("mode ACRO\n")
wait_mode(mav, 'ACRO')
count = 1
while count > 0:
print("Starting roll")
mavproxy.send('rc 1 1000\n')
if not wait_roll(mav, -150, accuracy=90):
return False
if not wait_roll(mav, 150, accuracy=90):
return False
if not wait_roll(mav, 0, accuracy=90):
return False
count -= 1
mavproxy.send('rc 1 1500\n')
# back to FBWA
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
wait_level_flight(mavproxy, mav)
mavproxy.send("mode ACRO\n")
wait_mode(mav, 'ACRO')
count = 2
while count > 0:
print("Starting loop")
mavproxy.send('rc 2 1000\n')
if not wait_pitch(mav, -60, accuracy=20):
return False
if not wait_pitch(mav, 0, accuracy=20):
return False
count -= 1
mavproxy.send('rc 2 1500\n')
# back to FBWA
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
mavproxy.send('rc 3 1700\n')
return wait_level_flight(mavproxy, mav)
def test_FBWB(mavproxy, mav, count=1, mode='FBWB'):
'''fly FBWB or CRUISE mode'''
mavproxy.send("mode %s\n" % mode)
wait_mode(mav, mode)
mavproxy.send('rc 3 1700\n')
mavproxy.send('rc 2 1500\n')
# lock in the altitude by asking for an altitude change then releasing
mavproxy.send('rc 2 1000\n')
wait_distance(mav, 50, accuracy=20)
mavproxy.send('rc 2 1500\n')
wait_distance(mav, 50, accuracy=20)
m = mav.recv_match(type='VFR_HUD', blocking=True)
initial_alt = m.alt
print("Initial altitude %u\n" % initial_alt)
print("Flying right circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 1 1800\n')
if not wait_heading(mav, 0 + (90*i), accuracy=20, timeout=60):
mavproxy.send('rc 1 1500\n')
return False
mavproxy.send('rc 1 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 100, accuracy=20):
return False
print("Circuit complete")
print("Flying rudder left circuit")
# do 4 turns
for i in range(0,4):
# hard left
print("Starting turn %u" % i)
mavproxy.send('rc 4 1900\n')
if not wait_heading(mav, 360 - (90*i), accuracy=20, timeout=60):
mavproxy.send('rc 4 1500\n')
return False
mavproxy.send('rc 4 1500\n')
print("Starting leg %u" % i)
if not wait_distance(mav, 100, accuracy=20):
return False
print("Circuit complete")
m = mav.recv_match(type='VFR_HUD', blocking=True)
final_alt = m.alt
print("Final altitude %u initial %u\n" % (final_alt, initial_alt))
# back to FBWA
mavproxy.send('mode FBWA\n')
wait_mode(mav, 'FBWA')
if abs(final_alt - initial_alt) > 20:
print("Failed to maintain altitude")
return False
return wait_level_flight(mavproxy, mav)
def setup_rc(mavproxy):
'''setup RC override control'''
for chan in [1,2,4,5,6,7]:
mavproxy.send('rc %u 1500\n' % chan)
mavproxy.send('rc 3 1000\n')
mavproxy.send('rc 8 1800\n')
def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=None):
'''fly a mission from a file'''
global homeloc
print("Flying mission %s" % filename)
mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('Flight plan received')
mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 1\n') # auto mode
wait_mode(mav, 'AUTO')
if not wait_waypoint(mav, 1, 7, max_dist=60):
return False
if not wait_groundspeed(mav, 0, 0.5, timeout=60):
return False
print("Mission OK")
return True
def fly_ArduPlane(viewerip=None, map=False, valgrind=False):
'''fly ArduPlane in SIL
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
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --streamrate=10'
if viewerip:
options += " --out=%s:14550" % viewerip
if map:
options += ' --map'
sil = util.start_SIL('ArduPlane', wipe=True, model='jsbsim', home=HOME_LOCATION, speedup=10)
print("Starting MAVProxy")
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Telemetry log: (\S+)')
mavproxy.expect('Received [0-9]+ parameters',timeout=3000)
# setup test parameters
mavproxy.send("param load %s/ArduPlane.parm\n" % testdir)
mavproxy.expect('Loaded [0-9]+ parameters')
mavproxy.send("param fetch\n")
# restart with new parms
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
sil = util.start_SIL('ArduPlane', model='jsbsim', home=HOME_LOCATION, speedup=10, valgrind=valgrind)
mavproxy = util.start_MAVProxy_SIL('ArduPlane', options=options)
mavproxy.expect('Telemetry log: (\S+)')
logfile = mavproxy.match.group(1)
print("LOGFILE %s" % logfile)
buildlog = util.reltopdir("../buildlogs/ArduPlane-test.tlog")
print("buildlog=%s" % buildlog)
if os.path.exists(buildlog):
os.unlink(buildlog)
try:
os.link(logfile, buildlog)
except Exception:
pass
util.expect_setup_callback(mavproxy, expect_callback)
mavproxy.expect('Received [0-9]+ parameters')
expect_list_clear()
expect_list_extend([sil, mavproxy])
print("Started simulator")
# get a mavlink connection going
try:
mav = mavutil.mavlink_connection('127.0.0.1:19550', robust_parsing=True)
except Exception, 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
e = 'None'
try:
print("Waiting for a heartbeat with mavlink protocol %s" % mav.WIRE_PROTOCOL_VERSION)
mav.wait_heartbeat()
print("Setting up RC parameters")
setup_rc(mavproxy)
print("Waiting for GPS fix")
mav.recv_match(condition='VFR_HUD.alt>10', blocking=True)
mav.wait_gps_fix()
while mav.location().alt < 10:
mav.wait_gps_fix()
homeloc = mav.location()
print("Home location: %s" % homeloc)
if not takeoff(mavproxy, mav):
print("Failed takeoff")
failed = True
if not fly_left_circuit(mavproxy, mav):
print("Failed left circuit")
failed = True
if not axial_left_roll(mavproxy, mav, 1):
print("Failed left roll")
failed = True
if not inside_loop(mavproxy, mav):
print("Failed inside loop")
failed = True
if not test_stabilize(mavproxy, mav):
print("Failed stabilize test")
failed = True
if not test_acro(mavproxy, mav):
print("Failed ACRO test")
failed = True
if not test_FBWB(mavproxy, mav):
print("Failed FBWB test")
failed = True
if not test_FBWB(mavproxy, mav, mode='CRUISE'):
print("Failed CRUISE test")
failed = True
if not fly_RTL(mavproxy, mav):
print("Failed RTL")
failed = True
if not fly_LOITER(mavproxy, mav):
print("Failed LOITER")
failed = True
if not fly_CIRCLE(mavproxy, mav):
print("Failed CIRCLE")
failed = True
if not fly_mission(mavproxy, mav, os.path.join(testdir, "ap1.txt"), height_accuracy = 10,
target_altitude=homeloc.alt+100):
print("Failed mission")
failed = True
if not log_download(mavproxy, mav, util.reltopdir("../buildlogs/ArduPlane-log.bin")):
print("Failed log download")
failed = True
except pexpect.TIMEOUT, e:
print("Failed with timeout")
failed = True
mav.close()
util.pexpect_close(mavproxy)
util.pexpect_close(sil)
if os.path.exists('ArduPlane-valgrind.log'):
os.chmod('ArduPlane-valgrind.log', 0644)
shutil.copy("ArduPlane-valgrind.log", util.reltopdir("../buildlogs/ArduPlane-valgrind.log"))
if failed:
print("FAILED: %s" % e)
return False
return True