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Mission test update

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This commit is contained in:
Jason Short 2011-11-13 22:56:33 -08:00
parent be1007d032
commit 31cb62620f
1 changed files with 42 additions and 18 deletions
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60
Tools/autotest/arducopter.py
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@ -168,18 +168,15 @@ def circle(mavproxy, mav, maxaltchange=10, holdtime=90, timeout=35):
def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None): def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
'''fly a mission from a file''' '''fly a mission from a file'''
print("Fly a mission")
global homeloc global homeloc
global num_wp global num_wp
mavproxy.send('wp set 1\n') print("test: Fly a mission from 0 to %u" % num_wp)
mavproxy.send('wp set 0\n')
mavproxy.send('switch 4\n') # auto mode mavproxy.send('switch 4\n') # auto mode
wait_mode(mav, 'AUTO') wait_mode(mav, 'AUTO')
#wait_altitude(mav, 30, 40) #wait_altitude(mav, 30, 40)
ret = wait_waypoint(mav, 0, num_wp, timeout=90) ret = wait_waypoint(mav, 0, num_wp, timeout=90)
print("test: MISSION COMPLETE: passed=%s" % ret)
print("MISSION COMPLETE: passed=%s" % ret)
# wait here until ready # wait here until ready
mavproxy.send('switch 5\n') mavproxy.send('switch 5\n')
wait_mode(mav, 'LOITER') wait_mode(mav, 'LOITER')
@ -192,20 +189,30 @@ def fly_mission(mavproxy, mav, height_accuracy=-1, target_altitude=None):
# return False # return False
def load_mission(mavproxy, mav, filename): def load_mission_from_file(mavproxy, mav, filename):
'''load a mission from a file''' '''load a mission from a file'''
global num_wp global num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
print("loaded mission with %u waypoints" % num_wp)
return True
def upload_mission_from_file(mavproxy, mav, filename):
'''Upload a mission from a file to APM'''
global num_wp
mavproxy.send('wp load %s\n' % filename) mavproxy.send('wp load %s\n' % filename)
mavproxy.expect('flight plan received') mavproxy.expect('flight plan received')
mavproxy.send('wp list\n') mavproxy.send('wp list\n')
mavproxy.expect('Requesting [0-9]+ waypoints') mavproxy.expect('Requesting [0-9]+ waypoints')
return True
wploader = mavwp.MAVWPLoader() def save_mission_to_file(mavproxy, mav, filename):
wploader.load(filename) global num_wp
num_wp = wploader.count() mavproxy.send('wp save %s\n' % filename)
print("loaded mission") mavproxy.expect('Saved ([0-9]+) waypoints')
for i in range(num_wp): num_wp = int(mavproxy.match.group(1))
print wploader.wp(i) print("num_wp: %d" % num_wp)
return True return True
def setup_rc(mavproxy): def setup_rc(mavproxy):
@ -294,33 +301,50 @@ def fly_ArduCopter(viewerip=None):
if not takeoff(mavproxy, mav): if not takeoff(mavproxy, mav):
failed = True failed = True
print("# Fly A square")
if not fly_square(mavproxy, mav): if not fly_square(mavproxy, mav):
failed = True failed = True
# save the stored mission
print("# Save out the C7 mission")
if not save_mission_to_file(mavproxy, mav, os.path.join(testdir, "ch7_mission.txt")):
failed = True
# Loiter for 10 seconds
print("# Loiter for 10 seconds")
if not loiter(mavproxy, mav): if not loiter(mavproxy, mav):
failed = True failed = True
#Fly a circle for 60 seconds #Fly a circle for 60 seconds
print("# Fly a Circle")
if not circle(mavproxy, mav): if not circle(mavproxy, mav):
failed = True failed = True
# fly the stored mission # save the stored mission
print("# Fly CH 7 saved mission")
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
failed = True failed = True
#fly_mission(mavproxy, mav, os.path.join(testdir, "mission_ttt.txt"), height_accuracy=0.2) print("# Upload mission1")
if not upload_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
if not load_mission(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
failed = True failed = True
# this grabs our mission count
print("# store mission1 locally")
if not load_mission_from_file(mavproxy, mav, os.path.join(testdir, "mission1.txt")):
failed = True
print("# Fly mission 1")
if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10): if not fly_mission(mavproxy, mav,height_accuracy = 0.5, target_altitude=10):
failed = True failed = True
else: else:
print("Flew mission_ttt OK") print("Flew mission1 OK")
print("# Land")
if not land(mavproxy, mav): if not land(mavproxy, mav):
failed = True failed = True
print("# disarm motors")
if not disarm_motors(mavproxy, mav): if not disarm_motors(mavproxy, mav):
failed = True failed = True
except pexpect.TIMEOUT, e: except pexpect.TIMEOUT, e: