mirror of https://github.com/ArduPilot/ardupilot
Tools: adjust tests for vfr_hud getting absolute altitude
This commit is contained in:
Peter Barker
Andrew Tridgell
parent
1dbfb9943c
commit
0b8b23baf6
|
|
@ -152,9 +152,12 @@ class AutoTestCopter(AutoTest):
|
|||
self.set_rc(3, 1000)
|
||||
self.arm_vehicle()
|
||||
self.set_rc(3, takeoff_throttle)
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
if m.alt < alt_min:
|
||||
self.wait_altitude(alt_min, (alt_min + 5))
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
alt = m.relative_alt / 1000.0 # mm -> m
|
||||
if alt < alt_min:
|
||||
self.wait_altitude(alt_min,
|
||||
(alt_min + 5),
|
||||
relative=True)
|
||||
self.hover()
|
||||
self.progress("TAKEOFF COMPLETE")
|
||||
|
||||
|
|
@ -164,7 +167,7 @@ class AutoTestCopter(AutoTest):
|
|||
self.mavproxy.send('switch 2\n') # land mode
|
||||
self.wait_mode('LAND')
|
||||
self.progress("Entered Landing Mode")
|
||||
self.wait_altitude(-5, 1)
|
||||
self.wait_altitude(-5, 1, relative=True)
|
||||
self.progress("LANDING: ok!")
|
||||
|
||||
def hover(self, hover_throttle=1500):
|
||||
|
|
@ -214,15 +217,16 @@ class AutoTestCopter(AutoTest):
|
|||
|
||||
def change_alt(self, alt_min, climb_throttle=1920, descend_throttle=1080):
|
||||
"""Change altitude."""
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
if m.alt < alt_min:
|
||||
self.progress("Rise to alt:%u from %u" % (alt_min, m.alt))
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
alt = m.relative_alt / 1000.0 # mm -> m
|
||||
if alt < alt_min:
|
||||
self.progress("Rise to alt:%u from %u" % (alt_min, alt))
|
||||
self.set_rc(3, climb_throttle)
|
||||
self.wait_altitude(alt_min, (alt_min + 5))
|
||||
self.wait_altitude(alt_min, (alt_min + 5), relative=True)
|
||||
else:
|
||||
self.progress("Lower to alt:%u from %u" % (alt_min, m.alt))
|
||||
self.progress("Lower to alt:%u from %u" % (alt_min, alt))
|
||||
self.set_rc(3, descend_throttle)
|
||||
self.wait_altitude((alt_min - 5), alt_min)
|
||||
self.wait_altitude((alt_min - 5), alt_min, relative=True)
|
||||
self.hover()
|
||||
|
||||
#################################################
|
||||
|
|
@ -310,7 +314,7 @@ class AutoTestCopter(AutoTest):
|
|||
self.progress("timeleft = %u" % time_left)
|
||||
if time_left < 20:
|
||||
time_left = 20
|
||||
self.wait_altitude(-10, 10, time_left)
|
||||
self.wait_altitude(-10, 10, time_left, relative=True)
|
||||
self.save_wp()
|
||||
|
||||
# enter RTL mode and wait for the vehicle to disarm
|
||||
|
|
@ -321,14 +325,15 @@ class AutoTestCopter(AutoTest):
|
|||
self.set_rc(3, 1500)
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time() < tstart + timeout:
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
alt = m.relative_alt / 1000.0 # mm -> m
|
||||
pos = self.mav.location()
|
||||
home_distance = self.get_distance(HOME, pos)
|
||||
home = ""
|
||||
if m.alt <= 1 and home_distance < 10:
|
||||
if alt <= 1 and home_distance < 10:
|
||||
home = "HOME"
|
||||
self.progress("Alt: %u HomeDist: %.0f %s" %
|
||||
(m.alt, home_distance, home))
|
||||
(alt, home_distance, home))
|
||||
# our post-condition is that we are disarmed:
|
||||
if not self.armed():
|
||||
return
|
||||
|
|
@ -367,12 +372,13 @@ class AutoTestCopter(AutoTest):
|
|||
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time() < tstart + timeout:
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
alt = m.alt / 1000.0 # mm -> m
|
||||
pos = self.mav.location()
|
||||
home_distance = self.get_distance(HOME, pos)
|
||||
self.progress("Alt: %u HomeDist: %.0f" % (m.alt, home_distance))
|
||||
self.progress("Alt: %u HomeDist: %.0f" % (alt, home_distance))
|
||||
# check if we've reached home
|
||||
if m.alt <= 1 and home_distance < 10:
|
||||
if alt <= 1 and home_distance < 10:
|
||||
# reduce throttle
|
||||
self.set_rc(3, 1100)
|
||||
# switch back to stabilize
|
||||
|
|
@ -496,18 +502,19 @@ class AutoTestCopter(AutoTest):
|
|||
# start timer
|
||||
tstart = self.get_sim_time()
|
||||
while self.get_sim_time() < tstart + timeout:
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
alt = m.relative_alt / 1000.0 # mm -> m
|
||||
pos = self.mav.location()
|
||||
home_distance = self.get_distance(HOME, pos)
|
||||
self.progress("Alt: %u HomeDistance: %.0f" %
|
||||
(m.alt, home_distance))
|
||||
(alt, home_distance))
|
||||
# recenter pitch sticks once we're home so we don't fly off again
|
||||
if pitching_forward and home_distance < 10:
|
||||
pitching_forward = False
|
||||
self.set_rc(2, 1500)
|
||||
# disable fence
|
||||
self.mavproxy.send('param set FENCE_ENABLE 0\n')
|
||||
if m.alt <= 1 and home_distance < 10:
|
||||
if alt <= 1 and home_distance < 10:
|
||||
# reduce throttle
|
||||
self.set_rc(3, 1000)
|
||||
# switch mode to stabilize
|
||||
|
|
@ -667,10 +674,12 @@ class AutoTestCopter(AutoTest):
|
|||
|
||||
# start displaying distance moved after all glitches applied
|
||||
if glitch_current == -1:
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT',
|
||||
blocking=True)
|
||||
alt = m.alt/1000.0 # mm -> m
|
||||
curr_pos = self.sim_location()
|
||||
moved_distance = self.get_distance(curr_pos, start_pos)
|
||||
self.progress("Alt: %u Moved: %.0f" % (m.alt, moved_distance))
|
||||
self.progress("Alt: %u Moved: %.0f" % (alt, moved_distance))
|
||||
if moved_distance > max_distance:
|
||||
self.progress("Moved over %u meters, Failed!" %
|
||||
max_distance)
|
||||
|
|
|
|||
|
|
@ -467,7 +467,7 @@ class AutoTest(ABC):
|
|||
while tstart + seconds_to_wait > tnow:
|
||||
tnow = self.get_sim_time()
|
||||
|
||||
def wait_altitude(self, alt_min, alt_max, timeout=30):
|
||||
def wait_altitude(self, alt_min, alt_max, timeout=30, relative=False):
|
||||
"""Wait for a given altitude range."""
|
||||
climb_rate = 0
|
||||
previous_alt = 0
|
||||
|
|
@ -476,12 +476,19 @@ class AutoTest(ABC):
|
|||
self.progress("Waiting for altitude between %u and %u" %
|
||||
(alt_min, alt_max))
|
||||
while self.get_sim_time() < tstart + timeout:
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
climb_rate = m.alt - previous_alt
|
||||
previous_alt = m.alt
|
||||
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
|
||||
if m is None:
|
||||
continue
|
||||
if relative:
|
||||
alt = m.relative_alt/1000.0 # mm -> m
|
||||
else:
|
||||
alt = m.alt/1000.0 # mm -> m
|
||||
|
||||
climb_rate = alt - previous_alt
|
||||
previous_alt = alt
|
||||
self.progress("Wait Altitude: Cur:%u, min_alt:%u, climb_rate: %u"
|
||||
% (m.alt, alt_min, climb_rate))
|
||||
if m.alt >= alt_min and m.alt <= alt_max:
|
||||
% (alt, alt_min, climb_rate))
|
||||
if alt >= alt_min and alt <= alt_max:
|
||||
self.progress("Altitude OK")
|
||||
return True
|
||||
self.progress("Failed to attain altitude range")
|
||||
|
|
|
|||
Loading…
Reference in New Issue