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Tools: add arm and disarm tests

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This commit is contained in:
Pierre Kancir 2018-08-03 11:42:19 +02:00 committed by Peter Barker
parent fa7ba7ddbc
commit 2f9f793ccf
6 changed files with 91 additions and 68 deletions
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49
Tools/autotest/apmrover2.py
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@ -108,53 +108,7 @@ class AutoTestRover(AutoTest):
# self.mav.wait_heartbeat()
# self.arm_vehicle()
#
# # TEST ARM RADIO
# def test_arm_motors_radio(self):
# """Test Arming motors with radio."""
# self.progress("Test arming motors with radio")
# self.mavproxy.send('switch 6\n') # stabilize/manual mode
# self.wait_mode('MANUAL')
# self.mavproxy.send('rc 3 1500\n') # throttle at zero
# self.mavproxy.send('rc 1 2000\n') # steer full right
# self.mavproxy.expect('APM: Throttle armed')
# self.mavproxy.send('rc 1 1500\n')
#
# self.mav.motors_armed_wait()
# self.progress("MOTORS ARMED OK")
# return True
#
# # TEST DISARM RADIO
# def test_disarm_motors_radio(self):
# """Test Disarm motors with radio."""
# self.progress("Test disarming motors with radio")
# self.mavproxy.send('switch 6\n') # stabilize/manual mode
# self.wait_mode('MANUAL')
# self.mavproxy.send('rc 3 1500\n') # throttle at zero
# self.mavproxy.send('rc 1 1000\n') # steer full right
# tstart = self.get_sim_time()
# self.mav.wait_heartbeat()
# timeout = 15
# while self.get_sim_time() < tstart + timeout:
# self.mav.wait_heartbeat()
# if not self.mav.motors_armed():
# disarm_delay = self.get_sim_time() - tstart
# self.progress("MOTORS DISARMED OK WITH RADIO")
# self.mavproxy.send('rc 1 1500\n') # steer full right
# self.mavproxy.send('rc 4 1500\n') # yaw full right
# self.progress("Disarm in %ss" % disarm_delay)
# return True
# self.progress("FAILED TO DISARM WITH RADIO")
# return False
#
# # TEST AUTO DISARM
# def test_autodisarm_motors(self):
# """Test Autodisarm motors."""
# self.progress("Test Autodisarming motors")
# self.mavproxy.send('switch 6\n') # stabilize/manual mode
# # NOT IMPLEMENTED ON ROVER
# self.progress("MOTORS AUTODISARMED OK")
# return True
#
# # TEST RC OVERRIDE
# # TEST RC OVERRIDE TIMEOUT
# def test_rtl(self, home, distance_min=5, timeout=250):
@ -598,6 +552,7 @@ class AutoTestRover(AutoTest):
self.mavproxy.send('switch 6\n') # Manual mode
self.wait_mode('MANUAL')
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
self.run_test("Set modes via mavproxy switch",

3
Tools/autotest/arducopter.py
View File

@ -1662,7 +1662,8 @@ class AutoTestCopter(AutoTest):
self.wait_mode('STABILIZE')
# Arm
self.run_test("Arm motors", self.arm_vehicle)
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
# Takeoff
self.run_test("Takeoff to test fly Square",

3
Tools/autotest/arduplane.py
View File

@ -568,6 +568,9 @@ class AutoTestPlane(AutoTest):
self.mav.wait_gps_fix()
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
self.run_test("Flaps", self.fly_flaps)

2
Tools/autotest/ardusub.py
View File

@ -147,6 +147,8 @@ class AutoTestSub(AutoTest):
# wait for EKF and GPS checks to pass
self.progress("Waiting for ready-to-arm")
self.wait_ready_to_arm()
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
self.homeloc = self.mav.location()
self.progress("Home location: %s" % self.homeloc)

101
Tools/autotest/common.py
View File

@ -397,6 +397,13 @@ class AutoTest(ABC):
self.progress("Failed to send RC commands to channel %s" % str(chan))
raise SetRCTimeout()
def set_throttle_zero(self):
"""Set throttle to zero."""
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER:
self.set_rc(3, 1500)
else:
self.set_rc(3, 1000)
def armed(self):
'''Return true if vehicle is armed and safetyoff'''
return self.mav.motors_armed()
@ -415,6 +422,63 @@ class AutoTest(ABC):
self.progress("DISARMED")
return True
def arm_motors_with_rc_input(self):
"""Arm motors with radio."""
self.progress("Arm motors with radio")
self.set_throttle_zero()
self.mavproxy.send('rc 1 2000\n')
tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
arm_delay = self.get_sim_time() - tstart
self.progress("MOTORS ARMED OK WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.progress("Arm in %ss" % arm_delay) # TODO check arming time
return True
self.progress("FAILED TO ARM WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
return False
def disarm_motors_with_rc_input(self):
"""Disarm motors with radio."""
self.progress("Disarm motors with radio")
self.set_throttle_zero()
self.mavproxy.send('rc 1 1000\n')
tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
self.progress("MOTORS DISARMED OK WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
self.progress("Disarm in %ss" % disarm_delay) # TODO check disarming time
return True
self.progress("FAILED TO DISARM WITH RADIO")
self.mavproxy.send('rc 1 1500\n')
return False
def autodisarm_motors(self):
"""Autodisarm motors."""
self.progress("Autodisarming motors")
self.set_throttle_zero()
if self.mav.mav_type == mavutil.mavlink.MAV_TYPE_GROUND_ROVER: # NOT IMPLEMENTED ON ROVER
self.progress("MOTORS AUTODISARMED OK")
return True
tstart = self.get_sim_time()
timeout = 15
while self.get_sim_time() < tstart + timeout:
self.mav.wait_heartbeat()
if not self.mav.motors_armed():
disarm_delay = self.get_sim_time() - tstart
self.progress("MOTORS AUTODISARMED")
self.progress("Autodisarm in %ss" % disarm_delay) # TODO check disarming time
return True
self.progress("FAILED TO AUTODISARM")
return False
def set_parameter(self, name, value, add_to_context=True):
old_value = self.get_parameter(name)
for i in range(1, 10):
@ -907,26 +971,23 @@ class AutoTest(ABC):
"""Initilialize autotest feature."""
pass
# def test_common_feature(self):
# """Common feature to test."""
# sucess = True
# # TEST ARMING/DISARM
# if not self.arm_vehicle():
# self.progress("Failed to ARM")
# sucess = False
# if not self.disarm_vehicle():
# self.progress("Failed to DISARM")
# sucess = False
# if not self.test_arm_motors_radio():
# self.progress("Failed to ARM with radio")
# sucess = False
# if not self.test_disarm_motors_radio():
# self.progress("Failed to ARM with radio")
# sucess = False
# if not self.test_autodisarm_motors():
# self.progress("Failed to AUTO DISARM")
# sucess = False
# # TODO: Test failure on arm (with arming check)
def test_arm_feature(self):
"""Common feature to test."""
# TEST ARMING/DISARM
if not self.arm_vehicle():
self.progress("Failed to ARM")
raise NotAchievedException()
if not self.disarm_vehicle():
self.progress("Failed to DISARM")
raise NotAchievedException()
if not self.arm_motors_with_rc_input():
raise NotAchievedException()
if not self.disarm_motors_with_rc_input():
raise NotAchievedException()
if not self.autodisarm_motors():
raise NotAchievedException()
# TODO : add failure test : arming check, wrong mode; Test arming magic; Same for disarm
# # TEST MISSION FILE
# # TODO : rework that to work on autotest server
# # self.progress("TEST LOADING MISSION")

1
Tools/autotest/quadplane.py
View File

@ -152,6 +152,7 @@ class AutoTestQuadPlane(AutoTest):
self.progress("Waiting reading for arm")
self.wait_seconds(30)
self.run_test("Arm features", self.test_arm_feature)
self.arm_vehicle()
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")