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Tools: autotest: add wheel encoder test for Rover

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Peter Barker 2019-09-27 11:23:27 +10:00 committed by Andrew Tridgell
parent 767cabf8e5
commit 044e750937
1 changed files with 43 additions and 0 deletions
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43
Tools/autotest/apmrover2.py
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@ -4345,6 +4345,45 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
if ex is not None:
raise ex
def test_wheelencoders(self):
'''make sure wheel encoders are generally working'''
ex = None
try:
self.set_parameter("WENC_TYPE", 10)
self.set_parameter("EK3_ENABLE", 1)
self.set_parameter("AHRS_EKF_TYPE", 3)
self.reboot_sitl()
self.change_mode("LOITER")
self.wait_ready_to_arm()
self.change_mode("MANUAL")
self.arm_vehicle()
self.set_rc(3, 1600)
m = self.mav.recv_match(type='WHEEL_DISTANCE', blocking=True, timeout=5)
if m is None:
raise NotAchievedException("Did not get WHEEL_DISTANCE")
tstart = self.get_sim_time()
while True:
if self.get_sim_time_cached() - tstart > 10:
break
dist_home = self.distance_to_home(use_cached_home=True)
m = self.mav.messages.get("WHEEL_DISTANCE")
delta = abs(m.distance[0] - dist_home)
self.progress("dist-home=%f wheel-distance=%f delta=%f" %
(dist_home, m.distance[0], delta))
if delta > 5:
raise NotAchievedException("wheel distance incorrect")
self.disarm_vehicle()
except Exception as e:
self.progress("Caught exception: %s" %
self.get_exception_stacktrace(e))
self.disarm_vehicle()
ex = e
self.reboot_sitl()
if ex is not None:
raise ex
def test_poly_fence_object_avoidance_guided_two_squares(self, target_system=1, target_component=1):
self.start_subtest("Ensure we can steer around obstacles in guided mode")
here = self.mav.location()
@ -4706,6 +4745,10 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
"Motor Test triggered via mavlink",
self.test_motor_test),
("WheelEncoders",
"Ensure SITL wheel encoders work",
self.test_wheelencoders),
("DataFlashOverMAVLink",
"Test DataFlash over MAVLink",
self.test_dataflash_over_mavlink),