mirror of https://github.com/ArduPilot/ardupilot
autotest: split out some common functions ready for ArduPlane support
This commit is contained in:
Andrew Tridgell
parent
930ee51bbe
commit
1e22945981
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@ -1,6 +1,7 @@
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# fly ArduCopter in SIL
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import util, pexpect, sys, time, math, shutil, os
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from common import *
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# get location of scripts
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testdir=os.path.dirname(os.path.realpath(__file__))
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@ -13,115 +14,6 @@ HOME_LOCATION='-35.362938,149.165085,584,270'
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homeloc = None
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num_wp = 0
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# a list of pexpect objects to read while waiting for
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# messages. This keeps the output to stdout flowing
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expect_list = []
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def message_hook(mav, msg):
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'''called as each mavlink msg is received'''
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global expect_list
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#if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
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# print(msg)
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for p in expect_list:
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try:
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p.read_nonblocking(100, timeout=0)
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except pexpect.TIMEOUT:
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pass
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def expect_callback(e):
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'''called when waiting for a expect pattern'''
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global expect_list
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for p in expect_list:
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if p == e:
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continue
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try:
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while p.read_nonblocking(100, timeout=0):
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pass
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except pexpect.TIMEOUT:
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pass
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class location(object):
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'''represent a GPS coordinate'''
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def __init__(self, lat, lng, alt=0):
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self.lat = lat
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self.lng = lng
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self.alt = alt
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def get_distance(loc1, loc2):
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'''get ground distance between two locations'''
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dlat = loc2.lat - loc1.lat
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dlong = loc2.lng - loc1.lng
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return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
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def get_bearing(loc1, loc2):
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'''get bearing from loc1 to loc2'''
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off_x = loc2.lng - loc1.lng
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off_y = loc2.lat - loc1.lat
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bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
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if bearing < 0:
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bearing += 360.00
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return bearing;
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def current_location(mav):
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'''return current location'''
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# ensure we have a position
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mav.recv_match(type='VFR_HUD', blocking=True)
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mav.recv_match(type='GPS_RAW', blocking=True)
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return location(mav.messages['GPS_RAW'].lat,
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mav.messages['GPS_RAW'].lon,
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mav.messages['VFR_HUD'].alt)
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def wait_altitude(mav, alt_min, alt_max, timeout=60):
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'''wait for a given altitude range'''
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tstart = time.time()
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print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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if m.alt >= alt_min and m.alt <= alt_max:
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return True
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print("Failed to attain altitude range")
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return False
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def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
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'''wait for waypoint ranges'''
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tstart = time.time()
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m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
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start_wp = m.seq
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current_wp = start_wp
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print("\n***wait for waypoint ranges***\n\n\n")
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if start_wp != wpnum_start:
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print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
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return False
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
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print("WP %u" % m.seq)
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if m.seq == current_wp:
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continue
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if m.seq == current_wp+1 or (m.seq > current_wp+1 and allow_skip):
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print("Starting new waypoint %u" % m.seq)
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tstart = time.time()
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current_wp = m.seq
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if current_wp == wpnum_end:
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print("Reached final waypoint %u" % m.seq)
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return True
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if m.seq > current_wp+1:
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print("Skipped waypoint! Got wp %u expected %u" % (m.seq, current_wp+1))
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return False
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print("Timed out waiting for waypoint %u" % wpnum_end)
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return False
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def save_wp(mavproxy, mav):
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mavproxy.send('rc 7 2000\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True)
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mavproxy.send('rc 7 1000\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
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mavproxy.send('wp list\n')
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def arm_motors(mavproxy):
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'''arm motors'''
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print("Arming motors")
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@ -179,52 +71,6 @@ def loiter(mavproxy, mav, maxaltchange=10, holdtime=10, timeout=60):
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return False
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def wait_heading(mav, heading, accuracy=5, timeout=30):
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'''wait for a given heading'''
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tstart = time.time()
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Heading %u" % m.heading)
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if math.fabs(m.heading - heading) <= accuracy:
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return True
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print("Failed to attain heading %u" % heading)
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return False
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def wait_distance(mav, distance, accuracy=5, timeout=30):
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'''wait for flight of a given distance'''
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tstart = time.time()
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start = current_location(mav)
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(start, pos)
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print("Distance %.2f meters" % delta)
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if math.fabs(delta - distance) <= accuracy:
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return True
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print("Failed to attain distance %u" % distance)
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return False
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def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
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'''wait for arrival at a location'''
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tstart = time.time()
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if target_altitude is None:
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target_altitude = loc.alt
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(loc, pos)
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print("Distance %.2f meters" % delta)
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if delta <= accuracy:
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if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
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continue
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print("Reached location (%.2f meters)" % delta)
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return True
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print("Failed to attain location")
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return False
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def fly_square(mavproxy, mav, side=50, timeout=120):
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'''fly a square, flying N then E'''
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mavproxy.send('switch 6\n')
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@ -0,0 +1,157 @@
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import util, pexpect, time, math
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# a list of pexpect objects to read while waiting for
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# messages. This keeps the output to stdout flowing
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expect_list = []
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def message_hook(mav, msg):
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'''called as each mavlink msg is received'''
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global expect_list
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if msg.get_type() in [ 'NAV_CONTROLLER_OUTPUT', 'GPS_RAW' ]:
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print(msg)
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for p in expect_list:
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try:
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p.read_nonblocking(100, timeout=0)
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except pexpect.TIMEOUT:
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pass
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def expect_callback(e):
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'''called when waiting for a expect pattern'''
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global expect_list
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for p in expect_list:
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if p == e:
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continue
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try:
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while p.read_nonblocking(100, timeout=0):
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pass
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except pexpect.TIMEOUT:
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pass
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class location(object):
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'''represent a GPS coordinate'''
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def __init__(self, lat, lng, alt=0):
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self.lat = lat
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self.lng = lng
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self.alt = alt
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def get_distance(loc1, loc2):
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'''get ground distance between two locations'''
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dlat = loc2.lat - loc1.lat
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dlong = loc2.lng - loc1.lng
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return math.sqrt((dlat*dlat) + (dlong*dlong)) * 1.113195e5
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def get_bearing(loc1, loc2):
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'''get bearing from loc1 to loc2'''
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off_x = loc2.lng - loc1.lng
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off_y = loc2.lat - loc1.lat
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bearing = 90.00 + math.atan2(-off_y, off_x) * 57.2957795
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if bearing < 0:
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bearing += 360.00
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return bearing;
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def current_location(mav):
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'''return current location'''
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# ensure we have a position
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mav.recv_match(type='VFR_HUD', blocking=True)
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mav.recv_match(type='GPS_RAW', blocking=True)
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return location(mav.messages['GPS_RAW'].lat,
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mav.messages['GPS_RAW'].lon,
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mav.messages['VFR_HUD'].alt)
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def wait_altitude(mav, alt_min, alt_max, timeout=30):
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'''wait for a given altitude range'''
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tstart = time.time()
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print("Waiting for altitude between %u and %u" % (alt_min, alt_max))
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Altitude %u" % m.alt)
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if m.alt >= alt_min and m.alt <= alt_max:
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return True
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print("Failed to attain altitude range")
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return False
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def wait_heading(mav, heading, accuracy=5, timeout=30):
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'''wait for a given heading'''
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tstart = time.time()
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='VFR_HUD', blocking=True)
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print("Heading %u" % m.heading)
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if math.fabs(m.heading - heading) <= accuracy:
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return True
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print("Failed to attain heading %u" % heading)
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return False
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def wait_distance(mav, distance, accuracy=5, timeout=30):
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'''wait for flight of a given distance'''
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tstart = time.time()
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start = current_location(mav)
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(start, pos)
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print("Distance %.2f meters" % delta)
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if math.fabs(delta - distance) <= accuracy:
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return True
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print("Failed to attain distance %u" % distance)
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return False
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def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height_accuracy=-1):
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'''wait for arrival at a location'''
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tstart = time.time()
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if target_altitude is None:
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target_altitude = loc.alt
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='GPS_RAW', blocking=True)
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pos = current_location(mav)
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delta = get_distance(loc, pos)
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print("Distance %.2f meters" % delta)
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if delta <= accuracy:
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if height_accuracy != -1 and math.fabs(pos.alt - target_altitude) > height_accuracy:
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continue
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print("Reached location (%.2f meters)" % delta)
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return True
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print("Failed to attain location")
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return False
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def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=60):
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'''wait for waypoint ranges'''
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tstart = time.time()
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m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
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start_wp = m.seq
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current_wp = start_wp
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print("\n***wait for waypoint ranges***\n\n\n")
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if start_wp != wpnum_start:
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print("Expected start waypoint %u but got %u" % (wpnum_start, start_wp))
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return False
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while time.time() < tstart + timeout:
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m = mav.recv_match(type='WAYPOINT_CURRENT', blocking=True)
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print("WP %u" % m.seq)
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if m.seq == current_wp:
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continue
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if m.seq == current_wp+1 or (m.seq > current_wp+1 and allow_skip):
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print("Starting new waypoint %u" % m.seq)
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tstart = time.time()
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current_wp = m.seq
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if current_wp == wpnum_end:
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print("Reached final waypoint %u" % m.seq)
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return True
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if m.seq > current_wp+1:
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print("Skipped waypoint! Got wp %u expected %u" % (m.seq, current_wp+1))
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return False
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print("Timed out waiting for waypoint %u" % wpnum_end)
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return False
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def save_wp(mavproxy, mav):
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mavproxy.send('rc 7 2000\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==2000', blocking=True)
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mavproxy.send('rc 7 1000\n')
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mav.recv_match(condition='RC_CHANNELS_RAW.chan7_raw==1000', blocking=True)
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mavproxy.send('wp list\n')
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