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Autotest: correct mavproxy unloaded map error

This commit is contained in:
Pierre Kancir 2016-08-01 14:23:53 +02:00 committed by Lucas De Marchi
parent bd8526fd68
commit 07eb170b39
2 changed files with 24 additions and 15 deletions
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37
Tools/autotest/arducopter.py
View File

@ -462,13 +462,15 @@ def show_gps_and_sim_positions(mavproxy, on_off):
mavproxy.send('map set showsimpos 0\n') mavproxy.send('map set showsimpos 0\n')
# fly_gps_glitch_loiter_test - fly south east in loiter and test reaction to gps glitch # fly_gps_glitch_loiter_test - fly south east in loiter and test reaction to gps glitch
def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=20): def fly_gps_glitch_loiter_test(mavproxy, mav, use_map=False, timeout=30, max_distance=20):
'''hold loiter position''' '''hold loiter position'''
mavproxy.send('switch 5\n') # loiter mode mavproxy.send('switch 5\n') # loiter mode
wait_mode(mav, 'LOITER') wait_mode(mav, 'LOITER')
# turn on simulator display of gps and actual position # turn on simulator display of gps and actual position
show_gps_and_sim_positions(mavproxy, True) if (use_map):
show_gps_and_sim_positions(mavproxy, True)
# set-up gps glitch array # set-up gps glitch array
glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221] glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221]
@ -482,20 +484,23 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=20):
print("turn south east") print("turn south east")
mavproxy.send('rc 4 1580\n') mavproxy.send('rc 4 1580\n')
if not wait_heading(mav, 150): if not wait_heading(mav, 150):
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False return False
mavproxy.send('rc 4 1500\n') mavproxy.send('rc 4 1500\n')
# fly forward (south east) at least 60m # fly forward (south east) at least 60m
mavproxy.send('rc 2 1100\n') mavproxy.send('rc 2 1100\n')
if not wait_distance(mav, 60): if not wait_distance(mav, 60):
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False return False
mavproxy.send('rc 2 1500\n') mavproxy.send('rc 2 1500\n')
# wait for copter to slow down # wait for copter to slow down
if not wait_groundspeed(mav, 0, 1): if not wait_groundspeed(mav, 0, 1):
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False return False
# record time and position # record time and position
@ -543,7 +548,8 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=20):
glitch_current = -1 glitch_current = -1
mavproxy.send('param set SIM_GPS_GLITCH_X 0\n') mavproxy.send('param set SIM_GPS_GLITCH_X 0\n')
mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n') mavproxy.send('param set SIM_GPS_GLITCH_Y 0\n')
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
if success: if success:
print("GPS glitch test passed! stayed within %u meters for %u seconds" % (max_distance, timeout)) print("GPS glitch test passed! stayed within %u meters for %u seconds" % (max_distance, timeout))
@ -552,7 +558,7 @@ def fly_gps_glitch_loiter_test(mavproxy, mav, timeout=30, max_distance=20):
return success return success
# fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch # fly_gps_glitch_auto_test - fly mission and test reaction to gps glitch
def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120): def fly_gps_glitch_auto_test(mavproxy, mav, use_map=False, timeout=120):
# set-up gps glitch array # set-up gps glitch array
glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221] glitch_lat = [0.0002996,0.0006958,0.0009431,0.0009991,0.0009444,0.0007716,0.0006221]
@ -569,7 +575,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120):
return False return False
# turn on simulator display of gps and actual position # turn on simulator display of gps and actual position
show_gps_and_sim_positions(mavproxy, True) if (use_map):
show_gps_and_sim_positions(mavproxy, True)
# load the waypoint count # load the waypoint count
global homeloc global homeloc
@ -584,7 +591,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120):
# wait until 100m from home # wait until 100m from home
if not wait_distance(mav, 100, 5, 60): if not wait_distance(mav, 100, 5, 60):
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
return False return False
# record time and position # record time and position
@ -632,7 +640,8 @@ def fly_gps_glitch_auto_test(mavproxy, mav, timeout=120):
print("Dist from home: %u" % dist_to_home) print("Dist from home: %u" % dist_to_home)
# turn off simulator display of gps and actual position # turn off simulator display of gps and actual position
show_gps_and_sim_positions(mavproxy, False) if (use_map):
show_gps_and_sim_positions(mavproxy, False)
print("GPS Glitch test Auto completed: passed=%s" % ret) print("GPS Glitch test Auto completed: passed=%s" % ret)
@ -914,7 +923,7 @@ def setup_rc(mavproxy):
# zero throttle # zero throttle
mavproxy.send('rc 3 1000\n') mavproxy.send('rc 3 1000\n')
def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False): def fly_ArduCopter(binary, viewerip=None, use_map=False, valgrind=False, gdb=False):
'''fly ArduCopter in SIL '''fly ArduCopter in SIL
you can pass viewerip as an IP address to optionally send fg and you can pass viewerip as an IP address to optionally send fg and
@ -942,7 +951,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5' options = '--sitl=127.0.0.1:5501 --out=127.0.0.1:19550 --quadcopter --streamrate=5'
if viewerip: if viewerip:
options += ' --out=%s:14550' % viewerip options += ' --out=%s:14550' % viewerip
if map: if use_map:
options += ' --map' options += ' --map'
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options) mavproxy = util.start_MAVProxy_SIL('ArduCopter', options=options)
mavproxy.expect('Telemetry log: (\S+)') mavproxy.expect('Telemetry log: (\S+)')
@ -1096,7 +1105,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
# Fly GPS Glitch Loiter test # Fly GPS Glitch Loiter test
print("# GPS Glitch Loiter Test") print("# GPS Glitch Loiter Test")
if not fly_gps_glitch_loiter_test(mavproxy, mav): if not fly_gps_glitch_loiter_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_loiter_test failed" failed_test_msg = "fly_gps_glitch_loiter_test failed"
print(failed_test_msg) print(failed_test_msg)
failed = True failed = True
@ -1110,7 +1119,7 @@ def fly_ArduCopter(binary, viewerip=None, map=False, valgrind=False, gdb=False):
# Fly GPS Glitch test in auto mode # Fly GPS Glitch test in auto mode
print("# GPS Glitch Auto Test") print("# GPS Glitch Auto Test")
if not fly_gps_glitch_auto_test(mavproxy, mav): if not fly_gps_glitch_auto_test(mavproxy, mav, use_map):
failed_test_msg = "fly_gps_glitch_auto_test failed" failed_test_msg = "fly_gps_glitch_auto_test failed"
print(failed_test_msg) print(failed_test_msg)
failed = True failed = True

2
Tools/autotest/autotest.py
View File

@ -266,7 +266,7 @@ def run_step(step):
return get_default_params('APMrover2', binary) return get_default_params('APMrover2', binary)
if step == 'fly.ArduCopter': if step == 'fly.ArduCopter':
return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) return arducopter.fly_ArduCopter(binary, viewerip=opts.viewerip, use_map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)
if step == 'fly.CopterAVC': if step == 'fly.CopterAVC':
return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb) return arducopter.fly_CopterAVC(binary, viewerip=opts.viewerip, map=opts.map, valgrind=opts.valgrind, gdb=opts.gdb)