mirror of https://github.com/ArduPilot/ardupilot
autotest: use set_parameters in rover; fixup tests to use context
This commit is contained in:
Peter Barker
Peter Barker
parent
1c9c1d7207
commit
043764fbf9
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@ -90,8 +90,10 @@ class AutoTestRover(AutoTest):
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ex = None
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try:
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self.progress("TEST SQUARE")
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self.set_parameter("RC7_OPTION", 7)
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self.set_parameter("RC9_OPTION", 58)
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self.set_parameters({
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"RC7_OPTION": 7,
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"RC9_OPTION": 58,
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})
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self.change_mode('MANUAL')
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@ -442,15 +444,17 @@ class AutoTestRover(AutoTest):
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raise MsgRcvTimeoutException("banner not received")
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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old_accel_max = self.get_parameter('ATC_ACCEL_MAX')
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'''measure our stopping distance'''
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self.context_push()
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# controller tends not to meet cruise speed (max of ~14 when 15
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# set), thus *1.2
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self.set_parameter('CRUISE_SPEED', speed*1.2)
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# at time of writing, the vehicle is only capable of 10m/s/s accel
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self.set_parameter('ATC_ACCEL_MAX', 15)
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self.set_parameters({
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'CRUISE_SPEED': speed*1.2,
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'ATC_ACCEL_MAX': 15,
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})
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self.change_mode("STEERING")
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self.set_rc(3, 2000)
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self.wait_groundspeed(15, 100)
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@ -472,17 +476,15 @@ class AutoTestRover(AutoTest):
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break
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delta = self.get_distance(start, stop)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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self.set_parameter('ATC_ACCEL_MAX', old_accel_max)
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self.context_pop()
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return delta
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def drive_brake(self):
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old_using_brake = self.get_parameter('ATC_BRAKE')
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old_cruise_speed = self.get_parameter('CRUISE_SPEED')
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self.set_parameter('CRUISE_SPEED', 15)
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self.set_parameter('ATC_BRAKE', 0)
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self.set_parameters({
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'CRUISE_SPEED': 15,
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'ATC_BRAKE': 0,
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})
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self.arm_vehicle()
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@ -491,13 +493,12 @@ class AutoTestRover(AutoTest):
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# brakes on:
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self.set_parameter('ATC_BRAKE', 1)
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distance_with_brakes = self.drive_brake_get_stopping_distance(15)
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# revert state:
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self.set_parameter('ATC_BRAKE', old_using_brake)
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self.set_parameter('CRUISE_SPEED', old_cruise_speed)
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delta = distance_without_brakes - distance_with_brakes
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self.disarm_vehicle()
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if delta < distance_without_brakes * 0.05: # 5% isn't asking for much
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self.disarm_vehicle()
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raise NotAchievedException("""
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Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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""" %
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@ -505,8 +506,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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distance_without_brakes,
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delta))
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self.disarm_vehicle()
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes, distance_without_brakes, delta))
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@ -570,9 +569,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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ex = None
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try:
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self.load_fence("rover-fence-ac-avoid.txt")
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self.set_parameter("FENCE_ENABLE", 0)
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self.set_parameter("PRX_TYPE", 10)
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self.set_parameter("RC10_OPTION", 40) # proximity-enable
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self.set_parameters({
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"FENCE_ENABLE": 0,
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"PRX_TYPE": 10,
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"RC10_OPTION": 40, # proximity-enable
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})
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self.reboot_sitl()
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# start = self.mav.location()
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self.wait_ready_to_arm()
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@ -699,8 +700,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.set_rc(9, 1000)
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self.set_rc(10, 1000)
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self.set_parameter("RC9_OPTION", 53) # steering
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self.set_parameter("RC10_OPTION", 54) # hold
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self.set_parameters({
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"RC9_OPTION": 53, # steering
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"RC10_OPTION": 54, # hold
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})
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self.set_rc(9, 1900)
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self.wait_mode("STEERING")
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self.set_rc(10, 1900)
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@ -4357,8 +4360,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.wait_ready_to_arm()
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here = self.mav.location()
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self.progress("here: %f %f" % (here.lat, here.lng))
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self.set_parameter("FENCE_ENABLE", 1)
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self.set_parameter("AVOID_ENABLE", 0)
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self.set_parameters({
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"FENCE_ENABLE": 1,
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"AVOID_ENABLE": 0,
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})
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# self.set_parameter("SIM_SPEEDUP", 1)
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@ -4606,9 +4611,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 2)
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self.set_parameter("FENCE_MARGIN", 0) # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 2,
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"FENCE_MARGIN": 0, # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601
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})
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self.reboot_sitl()
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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@ -4653,9 +4660,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 2)
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self.set_parameter("FENCE_MARGIN", 0) # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 2,
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"FENCE_MARGIN": 0, # FIXME: https://github.com/ArduPilot/ardupilot/issues/11601
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})
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self.reboot_sitl()
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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@ -4682,9 +4691,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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'''make sure wheel encoders are generally working'''
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ex = None
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try:
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self.set_parameter("WENC_TYPE", 10)
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self.set_parameter("EK3_ENABLE", 1)
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self.set_parameter("AHRS_EKF_TYPE", 3)
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self.set_parameters({
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"WENC_TYPE": 10,
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"EK3_ENABLE": 1,
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"AHRS_EKF_TYPE": 3,
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})
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self.reboot_sitl()
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self.change_mode("LOITER")
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self.wait_ready_to_arm()
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@ -4738,8 +4749,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 2)
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 2,
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})
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self.reboot_sitl()
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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@ -4787,8 +4800,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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])
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if self.mavproxy is not None:
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self.mavproxy.send("fence list\n")
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self.set_parameter("FENCE_ENABLE", 1)
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameters({
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"FENCE_ENABLE": 1,
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"AVOID_ENABLE": 3,
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})
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fence_middle = self.offset_location_ne(here, 0, 30)
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# FIXME: this might be nowhere near "here"!
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expected_stopping_point = mavutil.location(40.0713376, -105.2295738, 0, 0)
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@ -4824,15 +4839,19 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 1)
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self.set_parameter("OA_LOOKAHEAD", 50)
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 1,
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"OA_LOOKAHEAD": 50,
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})
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self.reboot_sitl()
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_parameter("FENCE_ENABLE", 1)
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self.set_parameter("WP_RADIUS", 5)
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self.set_parameters({
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"FENCE_ENABLE": 1,
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"WP_RADIUS": 5,
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})
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if self.mavproxy is not None:
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self.mavproxy.send("fence list\n")
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target_loc = mavutil.location(40.071060, -105.227734, 0, 0)
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@ -4871,15 +4890,19 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 1)
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self.set_parameter("OA_LOOKAHEAD", 50)
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 1,
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"OA_LOOKAHEAD": 50,
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})
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self.reboot_sitl()
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self.change_mode('GUIDED')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_parameter("FENCE_ENABLE", 1)
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self.set_parameter("WP_RADIUS", 5)
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self.set_parameters({
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"FENCE_ENABLE": 1,
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"WP_RADIUS": 5,
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})
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if self.mavproxy is not None:
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self.mavproxy.send("fence list\n")
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target_loc = mavutil.location(40.071260, -105.227000, 0, 0)
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@ -4912,15 +4935,19 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("AVOID_ENABLE", 3)
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self.set_parameter("OA_TYPE", 1)
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self.set_parameter("OA_LOOKAHEAD", 50)
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self.set_parameters({
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"AVOID_ENABLE": 3,
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"OA_TYPE": 1,
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"OA_LOOKAHEAD": 50,
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})
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self.reboot_sitl()
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self.change_mode('AUTO')
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self.wait_ready_to_arm()
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self.arm_vehicle()
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self.set_parameter("FENCE_ENABLE", 1)
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self.set_parameter("WP_RADIUS", 5)
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self.set_parameters({
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"FENCE_ENABLE": 1,
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"WP_RADIUS": 5,
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})
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if self.mavproxy is not None:
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self.mavproxy.send("fence list\n")
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target_loc = mavutil.location(40.071260, -105.227000, 0, 0)
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@ -5009,9 +5036,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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messages.append(message)
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self.install_message_hook(my_message_hook)
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try:
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self.set_parameter("SCR_ENABLE", 1)
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self.set_parameter("SCR_HEAP_SIZE", 1024000)
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self.set_parameter("SCR_VM_I_COUNT", 1000000)
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self.set_parameters({
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"SCR_ENABLE": 1,
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"SCR_HEAP_SIZE": 1024000,
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"SCR_VM_I_COUNT": 1000000,
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})
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for script in test_scripts:
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self.install_test_script(script)
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@ -5315,9 +5344,11 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
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self.context_push()
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ex = None
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try:
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self.set_parameter("PRX_TYPE", 2) # AP_Proximity_MAV
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self.set_parameter("OA_TYPE", 2) # dijkstra
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self.set_parameter("OA_DB_OUTPUT", 3) # send all items
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self.set_parameters({
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"PRX_TYPE": 2, # AP_Proximity_MAV
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"OA_TYPE": 2, # dijkstra
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"OA_DB_OUTPUT": 3, # send all items
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})
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self.reboot_sitl()
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# 1 laser pointing straight forward:
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