mirror of https://github.com/ArduPilot/ardupilot
First version of APM autotest
This does SIL testing of ArduPlane and ArduCopter. For now it just does a basic LOITER test of ArduCopter. It produces logs and a kml of the flight on apm.tridgell.net
This commit is contained in:
Andrew Tridgell
parent
44183eebc5
commit
0b484afbbe
|
|
@ -0,0 +1,30 @@
|
|||
RC1_MAX 2000.000000
|
||||
RC1_MIN 1000.000000
|
||||
RC1_TRIM 1500.000000
|
||||
RC2_MAX 2000.000000
|
||||
RC2_MIN 1000.000000
|
||||
RC2_TRIM 1500.000000
|
||||
RC3_MAX 2000.000000
|
||||
RC3_MIN 1000.000000
|
||||
RC3_TRIM 1500.000000
|
||||
RC4_MAX 2000.000000
|
||||
RC4_MIN 1000.000000
|
||||
RC4_TRIM 1500.000000
|
||||
RC5_MAX 2000.000000
|
||||
RC5_MIN 1000.000000
|
||||
RC5_TRIM 1500.000000
|
||||
RC6_MAX 2000.000000
|
||||
RC6_MIN 1000.000000
|
||||
RC6_TRIM 1500.000000
|
||||
RC7_MAX 2000.000000
|
||||
RC7_MIN 1000.000000
|
||||
RC7_TRIM 1500.000000
|
||||
RC8_MAX 2000.000000
|
||||
RC8_MIN 1000.000000
|
||||
RC8_TRIM 1500.000000
|
||||
FLTMODE1 3
|
||||
FLTMODE2 1
|
||||
FLTMODE3 2
|
||||
FLTMODE4 6
|
||||
FLTMODE5 5
|
||||
FLTMODE6 0
|
||||
|
|
@ -0,0 +1 @@
|
|||
This is an automated test suite for APM
|
||||
|
|
@ -0,0 +1,143 @@
|
|||
# fly ArduCopter in SIL
|
||||
|
||||
import util, pexpect, sys, time, math, shutil
|
||||
|
||||
sys.path.insert(0, 'pymavlink')
|
||||
import mavutil
|
||||
|
||||
HOME_LOCATION='-35.362938,149.165085,650,270'
|
||||
|
||||
def arm_motors(mavproxy):
|
||||
'''arm motors'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
mavproxy.send('rc 4 2000\n')
|
||||
mavproxy.expect('APM: ARMING MOTORS')
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
print("MOTORS ARMED OK")
|
||||
|
||||
def disarm_motors(mavproxy):
|
||||
'''disarm motors'''
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
mavproxy.send('rc 4 1000\n')
|
||||
mavproxy.expect('APM: DISARMING MOTORS')
|
||||
mavproxy.send('rc 4 1500\n')
|
||||
print("MOTORS DISARMED OK")
|
||||
|
||||
|
||||
def takeoff(mavproxy, mav):
|
||||
'''takeoff get to 30m altitude'''
|
||||
mavproxy.send('switch 6\n') # stabilize mode
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('rc 3 1500\n')
|
||||
mavproxy.send('status\n')
|
||||
m = mav.recv_match(type='VFR_HUD', condition='VFR_HUD.alt>=30', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
print("TAKEOFF COMPLETE")
|
||||
|
||||
|
||||
def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
|
||||
'''hold loiter position'''
|
||||
mavproxy.send('switch 5\n') # loiter mode
|
||||
mavproxy.expect('LOITER>')
|
||||
mavproxy.send('status\n')
|
||||
mavproxy.expect('>')
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
start_altitude = m.alt
|
||||
tstart = time.time()
|
||||
tholdstart = time.time()
|
||||
print("Holding loiter at %u meters for %u seconds" % (start_altitude, holdtime))
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if math.fabs(m.alt - start_altitude) > maxaltchange:
|
||||
tholdstart = time.time()
|
||||
if time.time() - tholdstart > holdtime:
|
||||
print("Loiter OK for %u seconds" % holdtime)
|
||||
return True
|
||||
print("Loiter FAILED")
|
||||
return False
|
||||
|
||||
|
||||
def land(mavproxy, mav, timeout=60):
|
||||
'''land the quad'''
|
||||
mavproxy.send('switch 6\n')
|
||||
mavproxy.expect('STABILIZE>')
|
||||
mavproxy.send('status\n')
|
||||
mavproxy.expect('>')
|
||||
mavproxy.send('rc 3 1300\n')
|
||||
tstart = time.time()
|
||||
while time.time() < tstart + timeout:
|
||||
m = mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
print("Altitude %u" % m.alt)
|
||||
if m.alt <= 0:
|
||||
print("LANDED OK")
|
||||
return True
|
||||
print("LANDING FAILED")
|
||||
return False
|
||||
|
||||
|
||||
|
||||
def setup_rc(mavproxy):
|
||||
'''setup RC override control'''
|
||||
for chan in range(1,9):
|
||||
mavproxy.send('rc %u 1500\n' % chan)
|
||||
# zero throttle
|
||||
mavproxy.send('rc 3 1000\n')
|
||||
|
||||
|
||||
def fly_ArduCopter():
|
||||
'''fly ArduCopter in SIL'''
|
||||
util.rmfile('eeprom.bin')
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter')
|
||||
mavproxy.expect('Please Run Setup')
|
||||
# we need to restart it after eeprom erase
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL('ArduCopter')
|
||||
mavproxy = util.start_MAVProxy_SIL('ArduCopter', options='--fgout=127.0.0.1:5502 --fgin=127.0.0.1:5501 --out=127.0.0.1:14550 --quadcopter')
|
||||
mavproxy.expect('Logging to (\S+)')
|
||||
logfile = mavproxy.match.group(1)
|
||||
print("LOGFILE %s" % logfile)
|
||||
mavproxy.expect("Ready to FLY")
|
||||
mavproxy.expect('Received [0-9]+ parameters')
|
||||
|
||||
# setup test parameters
|
||||
mavproxy.send("param load autotest/ArduCopter.parm\n")
|
||||
mavproxy.expect('Loaded [0-9]+ parameters')
|
||||
|
||||
# start hil_quad.py
|
||||
hquad = pexpect.spawn('HILTest/hil_quad.py --fgout=192.168.2.15:9123 --home=%s' % HOME_LOCATION,
|
||||
logfile=sys.stdout, timeout=10)
|
||||
hquad.expect('Starting at')
|
||||
|
||||
# get a mavlink connection going
|
||||
mav = mavutil.mavlink_connection('127.0.0.1:14550', robust_parsing=True)
|
||||
|
||||
failed = False
|
||||
try:
|
||||
mav.wait_heartbeat()
|
||||
mav.recv_match(type='GPS_RAW')
|
||||
setup_rc(mavproxy)
|
||||
arm_motors(mavproxy)
|
||||
takeoff(mavproxy, mav)
|
||||
loiter(mavproxy, mav)
|
||||
land(mavproxy, mav)
|
||||
disarm_motors(mavproxy)
|
||||
except Exception, e:
|
||||
failed = True
|
||||
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
hquad.close()
|
||||
|
||||
shutil.copy(logfile, "buildlogs/ArduCopter-test.mavlog")
|
||||
util.run_cmd("pymavlink/examples/mavtogpx.py buildlogs/ArduCopter-test.mavlog")
|
||||
util.run_cmd("bin/gpxtokml buildlogs/ArduCopter-test.mavlog.gpx")
|
||||
|
||||
if failed:
|
||||
print("FAILED: %s" % e)
|
||||
sys.exit(1)
|
||||
|
||||
|
|
@ -0,0 +1,76 @@
|
|||
#!/usr/bin/env python
|
||||
# APM automatic test suite
|
||||
# Andrew Tridgell, October 2011
|
||||
|
||||
import pexpect, os, util, sys, shutil, arducopter
|
||||
import optparse, fnmatch
|
||||
|
||||
os.putenv('TMPDIR', util.relcwd('tmp'))
|
||||
|
||||
def get_default_params(atype):
|
||||
'''get default parameters'''
|
||||
util.rmfile('eeprom.bin')
|
||||
sil = util.start_SIL(atype)
|
||||
mavproxy = util.start_MAVProxy_SIL(atype)
|
||||
idx = mavproxy.expect(['Please Run Setup', 'Saved [0-9]+ parameters to (\S+)'])
|
||||
if idx == 0:
|
||||
# we need to restart it after eeprom erase
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
sil = util.start_SIL(atype)
|
||||
mavproxy = util.start_MAVProxy_SIL(atype)
|
||||
idx = mavproxy.expect('Saved [0-9]+ parameters to (\S+)')
|
||||
parmfile = mavproxy.match.group(1)
|
||||
dest = os.path.join('buildlogs/%s.defaults.txt' % atype)
|
||||
shutil.copy(parmfile, dest)
|
||||
mavproxy.close()
|
||||
sil.close()
|
||||
print("Saved defaults for %s to %s" % (atype, dest))
|
||||
|
||||
|
||||
############## main program #############
|
||||
parser = optparse.OptionParser("autotest")
|
||||
parser.add_option("--skip", type='string', default='', help='list of steps to skip (comma separated)')
|
||||
parser.add_option("--list", action='store_true', default=False, help='list the available steps')
|
||||
|
||||
opts, args = parser.parse_args()
|
||||
|
||||
steps = [
|
||||
'build.ArduPlane',
|
||||
'build.ArduCopter',
|
||||
'defaults.ArduPlane',
|
||||
'defaults.ArduCopter',
|
||||
'fly.ArduCopter'
|
||||
]
|
||||
|
||||
skipsteps = opts.skip.split(',')
|
||||
|
||||
def skip_step(step):
|
||||
'''see if a step should be skipped'''
|
||||
for skip in skipsteps:
|
||||
if fnmatch.fnmatch(step, skip):
|
||||
return True
|
||||
return False
|
||||
|
||||
# kill any previous instance
|
||||
util.kill('ArduCopter.elf')
|
||||
util.kill('ArduPilot.elf')
|
||||
|
||||
for step in steps:
|
||||
if skip_step(step):
|
||||
continue
|
||||
if step == 'build.ArduPlane':
|
||||
util.build_SIL('ArduPlane')
|
||||
elif step == 'build.ArduCopter':
|
||||
util.build_SIL('ArduCopter')
|
||||
elif step == 'defaults.ArduPlane':
|
||||
get_default_params('ArduPlane')
|
||||
elif step == 'defaults.ArduCopter':
|
||||
get_default_params('ArduCopter')
|
||||
elif step == 'fly.ArduCopter':
|
||||
arducopter.fly_ArduCopter()
|
||||
else:
|
||||
raise RuntimeError("Unknown step %s" % step)
|
||||
|
||||
util.kill('ArduCopter.elf')
|
||||
util.kill('ArduPilot.elf')
|
||||
|
|
@ -0,0 +1,64 @@
|
|||
# utility code for autotest
|
||||
|
||||
import os, pexpect, sys
|
||||
from subprocess import call, check_call,Popen, PIPE
|
||||
|
||||
|
||||
def relhome(path):
|
||||
'''return a path relative to $HOME'''
|
||||
return os.path.join(os.getenv('HOME'), path)
|
||||
|
||||
def relcwd(path):
|
||||
'''return a path relative to $CWD'''
|
||||
return os.path.join(os.getcwd(), path)
|
||||
|
||||
|
||||
def run_cmd(cmd, dir=".", show=False, output=False, checkfail=True):
|
||||
'''run a shell command'''
|
||||
if show:
|
||||
print("Running: '%s' in '%s'" % (cmd, dir))
|
||||
if output:
|
||||
return Popen([cmd], shell=True, stdout=PIPE, cwd=dir).communicate()[0]
|
||||
elif checkfail:
|
||||
return check_call(cmd, shell=True, cwd=dir)
|
||||
else:
|
||||
return call(cmd, shell=True, cwd=dir)
|
||||
|
||||
def rmfile(path):
|
||||
'''remove a file if it exists'''
|
||||
try:
|
||||
os.unlink('eeprom.bin')
|
||||
except Exception:
|
||||
pass
|
||||
|
||||
def deltree(path):
|
||||
'''delete a tree of files'''
|
||||
run_cmd('rm -rf %s' % path)
|
||||
|
||||
|
||||
|
||||
def build_SIL(atype):
|
||||
'''build desktop SIL'''
|
||||
run_cmd("make -f ../libraries/Desktop/Makefile.desktop clean hil",
|
||||
dir=relcwd('APM/' + atype),
|
||||
checkfail=True)
|
||||
|
||||
def start_SIL(atype):
|
||||
'''launch a SIL instance'''
|
||||
ret = pexpect.spawn('tmp/%s.build/%s.elf' % (atype, atype),
|
||||
logfile=sys.stdout, timeout=5)
|
||||
ret.expect('Waiting for connection')
|
||||
return ret
|
||||
|
||||
def start_MAVProxy_SIL(atype, options=''):
|
||||
'''launch mavproxy connected to a SIL instance'''
|
||||
MAVPROXY = relcwd('MAVProxy/mavproxy.py')
|
||||
ret = pexpect.spawn('%s --master=tcp:127.0.0.1:5760 --aircraft=test.%s %s' % (
|
||||
MAVPROXY,atype,options),
|
||||
logfile=sys.stdout, timeout=60)
|
||||
return ret
|
||||
|
||||
|
||||
def kill(name):
|
||||
'''kill a process'''
|
||||
run_cmd('killall -9 -q %s' % name, checkfail=False)
|
||||
Loading…
Reference in New Issue