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autotest: CI fixes for 4.4

This commit is contained in:
Peter Barker 2023-04-07 11:31:05 +10:00
parent b06ba1bacd
commit 379a905abd
10 changed files with 147 additions and 123 deletions
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2
Tools/Replay/check_replay.py
View File

@ -40,7 +40,7 @@ def check_log(logfile, progress=print, ekf2_only=False, ekf3_only=False, verbose
if not hasattr(m,'C'):
continue
mtype = m.get_type()
if not mtype in counts:
if mtype not in counts:
counts[mtype] = 0
base_counts[mtype] = 0
core = m.C

35
Tools/autotest/arducopter.py
View File

@ -134,7 +134,7 @@ class AutoTestCopter(AutoTest):
0, # param6
alt_min # param7
)
self.wait_for_alt(alt_min, timeout=timeout, max_err=max_err)
self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
def takeoff(self,
alt_min=30,
@ -154,17 +154,10 @@ class AutoTestCopter(AutoTest):
self.user_takeoff(alt_min=alt_min, timeout=timeout, max_err=max_err)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout, max_err=max_err)
self.wait_altitude(alt_min-1, alt_min+max_err, relative=True, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")
def wait_for_alt(self, alt_min=30, timeout=30, max_err=5):
"""Wait for minimum altitude to be reached."""
self.wait_altitude(alt_min - 1,
(alt_min + max_err),
relative=True,
timeout=timeout)
def land_and_disarm(self, timeout=60):
"""Land the quad."""
self.progress("STARTING LANDING")
@ -176,7 +169,7 @@ class AutoTestCopter(AutoTest):
m = self.mav.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
alt = m.relative_alt / 1000.0 # mm -> m
if alt > min_alt:
self.wait_for_alt(min_alt, timeout=timeout)
self.wait_altitude(min_alt-1, min_alt+5, relative=True, timeout=timeout)
# self.wait_statustext("SIM Hit ground", timeout=timeout)
self.wait_disarmed()
@ -2086,7 +2079,7 @@ class AutoTestCopter(AutoTest):
self.progress("Regaining altitude")
self.change_mode('ALT_HOLD')
self.wait_for_alt(20, max_err=40)
self.wait_altitude(19, 60, relative=True)
self.progress("Flipping in pitch")
self.set_rc(2, 1700)
@ -2426,7 +2419,7 @@ class AutoTestCopter(AutoTest):
raise NotAchievedException("AUTOTUNE gains not present in pilot testing")
# land without changing mode
self.set_rc(3, 1000)
self.wait_for_alt(0)
self.wait_altitude(-1, 5, relative=True)
self.wait_disarmed()
# Check gains are still there after disarm
if (rlld == self.get_parameter("ATC_RAT_RLL_D") or
@ -2677,7 +2670,7 @@ class AutoTestCopter(AutoTest):
0,
timeout=10,
want_result=mavutil.mavlink.MAV_RESULT_FAILED)
self.wait_statustext("Node {} unhealthy".format(gps1_nodeid), check_context=True)
self.wait_statustext(".*Node .* unhealthy", check_context=True, regex=True)
self.stop_sup_program(instance=0)
self.start_sup_program(instance=0)
self.context_stop_collecting('STATUSTEXT')
@ -3850,7 +3843,7 @@ class AutoTestCopter(AutoTest):
new_pos = self.mav.location()
delta = self.get_distance(target, new_pos)
self.progress("Landed %f metres from target position" % delta)
max_delta = 1
max_delta = 1.5
if delta > max_delta:
raise NotAchievedException("Did not land close enough to target position (%fm > %fm" % (delta, max_delta))
@ -4567,7 +4560,7 @@ class AutoTestCopter(AutoTest):
# determine if we've successfully navigated to close to
# where we should be:
dist = math.sqrt(delta_ef.x * delta_ef.x + delta_ef.y * delta_ef.y)
dist_max = 0.15
dist_max = 1
self.progress("dist=%f want <%f" % (dist, dist_max))
if dist < dist_max:
# success! We've gotten within our target distance
@ -4645,6 +4638,7 @@ class AutoTestCopter(AutoTest):
except Exception as e:
self.print_exception_caught(e)
self.disarm_vehicle(force=True)
ex = e
self.context_pop()
@ -6825,6 +6819,7 @@ class AutoTestCopter(AutoTest):
failed = False
wants = []
gots = []
epsilon = 20
while True:
if self.get_sim_time_cached() - tstart > 30:
raise AutoTestTimeoutException("Failed to get distances")
@ -6837,7 +6832,7 @@ class AutoTestCopter(AutoTest):
want = expected_distances_copy[m.orientation]
wants.append(want)
gots.append(got)
if abs(want - got) > 5:
if abs(want - got) > epsilon:
failed = True
del expected_distances_copy[m.orientation]
if failed:
@ -6856,9 +6851,11 @@ class AutoTestCopter(AutoTest):
})
self.set_analog_rangefinder_parameters()
self.reboot_sitl()
tstart = self.get_sim_time()
self.change_mode('LOITER')
self.wait_ekf_happy()
tstart = self.get_sim_time()
while True:
if self.armed():
break
@ -6909,7 +6906,7 @@ class AutoTestCopter(AutoTest):
if self.get_sim_time_cached() - tstart > 10:
break
vel = self.get_body_frame_velocity()
if vel.length() > 0.3:
if vel.length() > 0.5:
raise NotAchievedException("Moved too much (%s)" %
(str(vel),))
shove(None, None)
@ -8337,7 +8334,7 @@ class AutoTestCopter(AutoTest):
def verify_yaw(mav, m):
if m.get_type() != 'ATTITUDE':
return
yawspeed_thresh_rads = math.radians(10)
yawspeed_thresh_rads = math.radians(20)
if m.yawspeed > yawspeed_thresh_rads:
raise NotAchievedException("Excessive yaw on takeoff: %f deg/s > %f deg/s (frame=%s)" %
(math.degrees(m.yawspeed), math.degrees(yawspeed_thresh_rads), frame))

44
Tools/autotest/arduplane.py
View File

@ -20,6 +20,8 @@ from common import AutoTestTimeoutException
from common import NotAchievedException
from common import PreconditionFailedException
from common import WaitModeTimeout
from common import Test
from pymavlink.rotmat import Vector3
from pysim import vehicleinfo
@ -780,6 +782,7 @@ class AutoTestPlane(AutoTest):
0,
0)
self.wait_airspeed(new_target_airspeed-0.5, new_target_airspeed+0.5)
self.context_push()
self.progress("Adding some wind, hoping groundspeed increases/decreases")
self.set_parameters({
"SIM_WIND_SPD": 7,
@ -797,6 +800,7 @@ class AutoTestPlane(AutoTest):
self.progress("groundspeed and airspeed should be different (have=%f want=%f)" % (delta, want_delta))
if delta > want_delta:
break
self.context_pop()
self.fly_home_land_and_disarm(timeout=240)
def fly_home_land_and_disarm(self, timeout=120):
@ -994,7 +998,7 @@ class AutoTestPlane(AutoTest):
self.context_collect("HEARTBEAT")
self.set_parameter("SIM_RC_FAIL", 2) # throttle-to-950
self.wait_mode('RTL') # long failsafe
if (not self.get_mode_from_mode_mapping("CIRCLE") in
if (self.get_mode_from_mode_mapping("CIRCLE") not in
[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
raise NotAchievedException("Did not go via circle mode")
self.progress("Ensure we've had our throttle squashed to 950")
@ -1032,7 +1036,7 @@ class AutoTestPlane(AutoTest):
self.context_collect("HEARTBEAT")
self.set_parameter("SIM_RC_FAIL", 1) # no-pulses
self.wait_mode('RTL') # long failsafe
if (not self.get_mode_from_mode_mapping("CIRCLE") in
if (self.get_mode_from_mode_mapping("CIRCLE") not in
[x.custom_mode for x in self.context_stop_collecting("HEARTBEAT")]):
raise NotAchievedException("Did not go via circle mode")
self.do_timesync_roundtrip()
@ -1169,29 +1173,28 @@ class AutoTestPlane(AutoTest):
'''Ensure Long-Failsafe works on GCS loss'''
self.start_subtest("Test Failsafe: RTL")
self.load_sample_mission()
self.set_parameter("RTL_AUTOLAND", 1)
self.change_mode("AUTO")
self.takeoff()
self.set_parameters({
"FS_GCS_ENABL": 1,
"FS_LONG_ACTN": 1,
"RTL_AUTOLAND": 1,
"SYSID_MYGCS": self.mav.source_system,
})
self.takeoff()
self.change_mode('LOITER')
self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0)
self.wait_mode("RTL", timeout=5)
self.wait_mode("RTL", timeout=10)
self.set_heartbeat_rate(self.speedup)
self.end_subtest("Completed RTL Failsafe test")
self.start_subtest("Test Failsafe: FBWA Glide")
self.set_parameters({
"RTL_AUTOLAND": 1,
"FS_LONG_ACTN": 2,
})
self.change_mode("AUTO")
self.takeoff()
self.change_mode('AUTO')
self.progress("Disconnecting GCS")
self.set_heartbeat_rate(0)
self.wait_mode("FBWA", timeout=5)
self.wait_mode("FBWA", timeout=10)
self.set_heartbeat_rate(self.speedup)
self.end_subtest("Completed FBWA Failsafe test")
@ -1844,6 +1847,7 @@ class AutoTestPlane(AutoTest):
self.fly_home_land_and_disarm()
def deadreckoning_main(self, disable_airspeed_sensor=False):
self.reboot_sitl()
self.wait_ready_to_arm()
self.gpi = None
self.simstate = None
@ -2414,11 +2418,6 @@ class AutoTestPlane(AutoTest):
self.load_mission('CMAC-soar.txt', strict=False)
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Enable thermalling RC
rc_chan = 0
for i in range(8):
@ -2432,15 +2431,22 @@ class AutoTestPlane(AutoTest):
self.set_rc_from_map({
rc_chan: 1900,
3: 1500, # Use trim airspeed.
})
self.set_parameters({
"SOAR_VSPEED": 0.55,
"SOAR_MIN_THML_S": 25,
})
self.set_current_waypoint(1)
self.change_mode('AUTO')
self.wait_ready_to_arm()
self.arm_vehicle()
# Wait to detect thermal
self.progress("Waiting for thermal")
self.wait_mode('THERMAL', timeout=600)
self.set_parameter("SOAR_VSPEED", 0.6)
# Wait to climb to SOAR_ALT_MAX
self.progress("Waiting for climb to max altitude")
alt_max = self.get_parameter('SOAR_ALT_MAX')
@ -4569,7 +4575,7 @@ class AutoTestPlane(AutoTest):
self.AltResetBadGPS,
self.AirspeedCal,
self.MissionJumpTags,
self.GCSFailsafe,
Test(self.GCSFailsafe, speedup=8),
self.SDCardWPTest,
])
return ret

69
Tools/autotest/autotest.py
View File

@ -33,7 +33,6 @@ import helicopter
import examples
from pysim import util
from pymavlink import mavutil
from pymavlink.generator import mavtemplate
from common import Test
@ -58,47 +57,6 @@ def buildlogs_path(path):
return os.path.join(*bits)
def get_default_params(atype, binary):
"""Get default parameters."""
# use rover simulator so SITL is not starved of input
HOME = mavutil.location(40.071374969556928,
-105.22978898137808,
1583.702759,
246)
if "plane" in binary or "rover" in binary:
frame = "rover"
else:
frame = "+"
home = "%f,%f,%u,%u" % (HOME.lat, HOME.lng, HOME.alt, HOME.heading)
mavproxy_master = 'tcp:127.0.0.1:5760'
sitl = util.start_SITL(binary,
wipe=True,
model=frame,
home=home,
speedup=10,
unhide_parameters=True)
mavproxy = util.start_MAVProxy_SITL(atype,
master=mavproxy_master)
print("Dumping defaults")
idx = mavproxy.expect([r'Saved [0-9]+ parameters to (\S+)'])
if idx == 0:
# we need to restart it after eeprom erase
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
sitl = util.start_SITL(binary, model=frame, home=home, speedup=10)
mavproxy = util.start_MAVProxy_SITL(atype,
master=mavproxy_master)
mavproxy.expect(r'Saved [0-9]+ parameters to (\S+)')
parmfile = mavproxy.match.group(1)
dest = buildlogs_path('%s-defaults.parm' % atype)
shutil.copy(parmfile, dest)
util.pexpect_close(mavproxy)
util.pexpect_close(sitl)
print("Saved defaults for %s to %s" % (atype, dest))
return True
def build_all_filepath():
"""Get build_all.sh path."""
return util.reltopdir('Tools/scripts/build_all.sh')
@ -484,6 +442,11 @@ def run_step(step):
return util.build_replay(board='SITL')
if vehicle_binary is not None:
try:
binary = binary_path(step, debug=opts.debug)
os.unlink(binary)
except (FileNotFoundError, ValueError):
pass
if len(vehicle_binary.split(".")) == 1:
return util.build_SITL(vehicle_binary, **build_opts)
else:
@ -495,9 +458,6 @@ def run_step(step):
binary = binary_path(step, debug=opts.debug)
if step.startswith("defaults"):
vehicle = step[9:]
return get_default_params(vehicle, binary)
supplementary_binaries = []
if step in suplementary_test_binary_map:
for supplementary_test_binary in suplementary_test_binary_map[step]:
@ -690,9 +650,10 @@ def write_fullresults():
results.addglob("GPX track", '*.gpx')
# results common to all vehicles:
vehicle_files = [('{vehicle} defaults', '{vehicle}-defaults.parm'),
('{vehicle} core', '{vehicle}.core'),
('{vehicle} ELF', '{vehicle}.elf'), ]
vehicle_files = [
('{vehicle} core', '{vehicle}.core'),
('{vehicle} ELF', '{vehicle}.elf'),
]
vehicle_globs = [('{vehicle} log', '{vehicle}-*.BIN'), ]
for vehicle in all_vehicles():
subs = {'vehicle': vehicle}
@ -1082,33 +1043,28 @@ if __name__ == "__main__":
'run.examples',
'build.Plane',
'defaults.Plane',
'test.Plane',
'test.QuadPlane',
'build.Rover',
'defaults.Rover',
'test.Rover',
'test.BalanceBot',
'test.Sailboat',
'build.Copter',
'defaults.Copter',
'test.Copter',
'build.Helicopter',
'test.Helicopter',
'build.Tracker',
'defaults.Tracker',
'test.Tracker',
'build.Sub',
'defaults.Sub',
'test.Sub',
'build.Blimp',
'defaults.Blimp',
'test.Blimp',
'build.SITLPeriphGPS',
'test.CAN',
@ -1149,11 +1105,6 @@ if __name__ == "__main__":
"drive.balancebot": "test.BalanceBot",
"fly.CopterAVC": "test.Helicopter",
"test.AntennaTracker": "test.Tracker",
"defaults.ArduCopter": "defaults.Copter",
"defaults.ArduPlane": "defaults.Plane",
"defaults.ArduSub": "defaults.Sub",
"defaults.APMrover2": "defaults.Rover",
"defaults.AntennaTracker": "defaults.Tracker",
"fly.ArduCopterTests1a": "test.CopterTests1a",
"fly.ArduCopterTests1b": "test.CopterTests1b",
"fly.ArduCopterTests1c": "test.CopterTests1c",

74
Tools/autotest/common.py
View File

@ -1984,7 +1984,8 @@ class AutoTest(ABC):
self.progress("Rebooting SITL")
self.reboot_sitl_mav(required_bootcount=required_bootcount, force=force)
self.do_heartbeats(force=True)
self.assert_simstate_location_is_at_startup_location()
if self.frame != 'sailboat': # sailboats drift with wind!
self.assert_simstate_location_is_at_startup_location()
def reboot_sitl_mavproxy(self, required_bootcount=None):
"""Reboot SITL instance using MAVProxy and wait for it to reconnect."""
@ -2038,6 +2039,7 @@ class AutoTest(ABC):
def set_streamrate(self, streamrate, timeout=20, stream=mavutil.mavlink.MAV_DATA_STREAM_ALL):
'''set MAV_DATA_STREAM_ALL; timeout is wallclock time'''
self.do_timesync_roundtrip(timeout_in_wallclock=True)
tstart = time.time()
while True:
if time.time() - tstart > timeout:
@ -3363,17 +3365,19 @@ class AutoTest(ABC):
self.progress("Received: %s" % str(m))
if m is None:
continue
if m.tc1 == 0:
self.progress("this is a timesync request, which we don't answer")
continue
if m.ts1 % 1000 != self.mav.source_system:
self.progress("this isn't a response to our timesync (%s)" % (m.ts1 % 1000))
continue
if m.tc1 == 0:
# this should also not happen:
self.progress("this is a timesync request, which we don't answer")
continue
if int(m.ts1 / 1000) != self.timesync_number:
self.progress("this isn't the one we just sent")
continue
if m.get_srcSystem() != self.mav.target_system:
self.progress("response from system other than our target")
self.progress("response from system other than our target (want=%u got=%u" %
(self.mav.target_system, m.get_srcSystem()))
continue
# no component check ATM because we send broadcast...
# if m.get_srcComponent() != self.mav.target_component:
@ -4473,13 +4477,14 @@ class AutoTest(ABC):
raise ValueError("count %u not handled" % count)
self.progress("Rally content same")
def load_rally(self, filename):
def load_rally_using_mavproxy(self, filename):
"""Load rally points from a file to flight controller."""
self.progress("Loading rally points (%s)" % filename)
path = os.path.join(testdir, self.current_test_name_directory, filename)
mavproxy = self.start_mavproxy()
mavproxy.send('rally load %s\n' % path)
mavproxy.expect("Loaded")
self.delay_sim_time(10) # allow transfer to complete
self.stop_mavproxy(mavproxy)
def load_sample_mission(self):
@ -6385,10 +6390,13 @@ class AutoTest(ABC):
**kwargs
)
def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=30, **kwargs):
def wait_altitude(self, altitude_min, altitude_max, relative=False, timeout=None, **kwargs):
"""Wait for a given altitude range."""
assert altitude_min <= altitude_max, "Minimum altitude should be less than maximum altitude."
if timeout is None:
timeout = 30
def validator(value2, target2=None):
if altitude_min <= value2 <= altitude_max:
return True
@ -6773,11 +6781,12 @@ class AutoTest(ABC):
return Vector3(msg.vx, msg.vy, msg.vz)
"""Wait for a given speed vector."""
def wait_speed_vector(self, speed_vector, accuracy=0.2, timeout=30, **kwargs):
def wait_speed_vector(self, speed_vector, accuracy=0.3, timeout=30, **kwargs):
def validator(value2, target2):
return (math.fabs(value2.x - target2.x) <= accuracy and
math.fabs(value2.y - target2.y) <= accuracy and
math.fabs(value2.z - target2.z) <= accuracy)
for (want, got) in (target2.x, value2.x), (target2.y, value2.y), (target2.z, value2.z):
if want != float("nan") and (math.fabs(got - want) > accuracy):
return False
return True
self.wait_and_maintain(
value_name="SpeedVector",
@ -7211,7 +7220,7 @@ class AutoTest(ABC):
def wait_gps_sys_status_not_present_or_enabled_and_healthy(self, timeout=30):
self.progress("Waiting for GPS health")
tstart = self.get_sim_time_cached()
tstart = self.get_sim_time()
while True:
now = self.get_sim_time_cached()
if now - tstart > timeout:
@ -7652,6 +7661,10 @@ Also, ignores heartbeats not from our target system'''
self.mav.mav.set_send_callback(self.send_message_hook, self)
self.mav.idle_hooks.append(self.idle_hook)
# we need to wait for a heartbeat here. If we don't then
# self.mav.target_system will be zero because it hasn't
# "locked on" to a target system yet.
self.wait_heartbeat()
self.set_streamrate(self.sitl_streamrate())
def show_test_timings_key_sorter(self, t):
@ -7861,6 +7874,9 @@ Also, ignores heartbeats not from our target system'''
passed = False
reset_needed = True
# if we haven't already reset ArduPilot because it's dead,
# then ensure the vehicle was disarmed at the end of the test.
# If it wasn't then the test is considered failed:
if ardupilot_alive and self.armed() and not self.is_tracker():
if ex is None:
ex = ArmedAtEndOfTestException("Still armed at end of test")
@ -7877,6 +7893,9 @@ Also, ignores heartbeats not from our target system'''
self.progress("Force-rebooting SITL")
self.reboot_sitl() # that'll learn it
passed = False
elif not passed: # implicit reboot after a failed test:
self.progress("Test failed but ArduPilot process alive; rebooting")
self.reboot_sitl() # that'll learn it
if self._mavproxy is not None:
self.progress("Stopping auto-started mavproxy")
@ -8020,6 +8039,11 @@ Also, ignores heartbeats not from our target system'''
self.sup_prog.append(sup_prog_link)
self.expect_list_add(sup_prog_link)
# mavlink will have disconnected here. Explicitly reconnect,
# or the first packet we send will be lost:
if self.mav is not None:
self.mav.reconnect()
def get_suplementary_programs(self):
return self.sup_prog
@ -8380,11 +8404,11 @@ Also, ignores heartbeats not from our target system'''
start_loc = self.sitl_start_location()
self.progress("SITL start loc: %s" % str(start_loc))
delta = abs(orig_home.latitude * 1.0e-7 - start_loc.lat)
if delta > 0.000001:
if delta > 0.000006:
raise ValueError("homes differ in lat got=%f vs want=%f delta=%f" %
(orig_home.latitude * 1.0e-7, start_loc.lat, delta))
delta = abs(orig_home.longitude * 1.0e-7 - start_loc.lng)
if delta > 0.000001:
if delta > 0.000006:
raise ValueError("homes differ in lon got=%f vs want=%f delta=%f" %
(orig_home.longitude * 1.0e-7, start_loc.lng, delta))
if self.is_rover():
@ -9575,6 +9599,8 @@ Also, ignores heartbeats not from our target system'''
self.set_rc(interlock_channel, 1000)
self.start_subtest("Test all mode arming")
self.wait_ready_to_arm()
if self.arming_test_mission() is not None:
self.load_mission(self.arming_test_mission())
@ -12986,6 +13012,7 @@ switch value'''
(msg, m.alt, gpi_alt))
introduced_error = 10 # in metres
self.set_parameter("SIM_GPS2_ALT_OFS", introduced_error)
self.do_timesync_roundtrip()
m = self.assert_receive_message("GPS2_RAW")
if abs((m.alt-introduced_error*1000) - gpi_alt) > 100:
raise NotAchievedException("skewed Alt (%s) discrepancy; %d+%d vs %d" %
@ -13004,9 +13031,11 @@ switch value'''
if abs(new_gpi_alt2 - m.alt) > 100:
raise NotAchievedException("Failover not detected")
def fetch_file_via_ftp(self, path):
def fetch_file_via_ftp(self, path, timeout=20):
'''returns the content of the FTP'able file at path'''
self.progress("Retrieving (%s) using MAVProxy" % path)
mavproxy = self.start_mavproxy()
mavproxy.expect("Saved .* parameters to")
ex = None
tmpfile = tempfile.NamedTemporaryFile(mode='r', delete=False)
try:
@ -13015,9 +13044,18 @@ switch value'''
mavproxy.send("ftp set debug 1\n") # so we get the "Terminated session" message
mavproxy.send("ftp get %s %s\n" % (path, tmpfile.name))
mavproxy.expect("Getting")
self.delay_sim_time(2)
mavproxy.send("ftp status\n")
mavproxy.expect("No transfer in progress")
tstart = self.get_sim_time()
while True:
now = self.get_sim_time()
if now - tstart > timeout:
raise NotAchievedException("expected complete transfer")
self.progress("Polling status")
mavproxy.send("ftp status\n")
try:
mavproxy.expect("No transfer in progress", timeout=1)
break
except Exception:
continue
# terminate the connection, or it may still be in progress the next time an FTP is attempted:
mavproxy.send("ftp cancel\n")
mavproxy.expect("Terminated session")

1
Tools/autotest/default_params/quadplane-ice.parm
View File

@ -1 +1,2 @@
Q_OPTIONS 64
ICE_RPM_THRESH 50 # idles at 70 (1% thrust)

2
Tools/autotest/helicopter.py
View File

@ -161,7 +161,7 @@ class AutoTestHelicopter(AutoTestCopter):
self.user_takeoff(alt_min=alt_min)
else:
self.set_rc(3, takeoff_throttle)
self.wait_for_alt(alt_min=alt_min, timeout=timeout)
self.wait_altitude(alt_min-1, alt_min+5, relative=True, timeout=timeout)
self.hover()
self.progress("TAKEOFF COMPLETE")

37
Tools/autotest/pysim/util.py
View File

@ -393,6 +393,31 @@ class FakeMacOSXSpawn(object):
return True
class PSpawnStdPrettyPrinter(object):
'''a fake filehandle-like object which prefixes a string to all lines
before printing to stdout/stderr. To be used to pass to
pexpect.spawn's logfile argument
'''
def __init__(self, output=sys.stdout, prefix="stdout"):
self.output = output
self.prefix = prefix
self.buffer = ""
def close(self):
self.print_prefixed_line(self.buffer)
def write(self, data):
self.buffer += data
for line in self.buffer.split("\n"):
self.print_prefixed_line(line)
def print_prefixed_line(self, line):
print("%s: %s" % (self.prefix, line), file=self.output)
def flush(self):
pass
def start_SITL(binary,
valgrind=False,
callgrind=False,
@ -411,7 +436,8 @@ def start_SITL(binary,
customisations=[],
lldb=False,
enable_fgview_output=False,
supplementary=False):
supplementary=False,
stdout_prefix=None):
if model is None and not supplementary:
raise ValueError("model must not be None")
@ -513,6 +539,11 @@ def start_SITL(binary,
cmd.extend(customisations)
pexpect_logfile_prefix = stdout_prefix
if pexpect_logfile_prefix is None:
pexpect_logfile_prefix = os.path.basename(binary)
pexpect_logfile = PSpawnStdPrettyPrinter(prefix=pexpect_logfile_prefix)
if (gdb or lldb) and sys.platform == "darwin" and os.getenv('DISPLAY'):
global windowID
# on MacOS record the window IDs so we can close them later
@ -550,7 +581,7 @@ def start_SITL(binary,
# AP gets a redirect-stdout-to-filehandle option. So, in the
# meantime, return a dummy:
return pexpect.spawn("true", ["true"],
logfile=sys.stdout,
logfile=pexpect_logfile,
encoding=ENCODING,
timeout=5)
else:
@ -558,7 +589,7 @@ def start_SITL(binary,
first = cmd[0]
rest = cmd[1:]
child = pexpect.spawn(first, rest, logfile=sys.stdout, encoding=ENCODING, timeout=5)
child = pexpect.spawn(first, rest, logfile=pexpect_logfile, encoding=ENCODING, timeout=5)
pexpect_autoclose(child)
# give time for parameters to properly setup
time.sleep(3)

2
Tools/autotest/quadplane.py
View File

@ -946,7 +946,7 @@ class AutoTestQuadPlane(AutoTest):
self.wait_rpm(1, 6500, 7500, minimum_duration=30, timeout=40)
self.progress("Setting min-throttle")
self.set_rc(3, 1000)
self.wait_rpm(1, 300, 400, minimum_duration=1)
self.wait_rpm(1, 65, 75, minimum_duration=1)
self.progress("Setting engine-start RC switch to LOW")
self.set_rc(rc_engine_start_chan, 1000)
self.wait_rpm(1, 0, 0, minimum_duration=1)

4
Tools/autotest/rover.py
View File

@ -1290,7 +1290,8 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
def Rally(self):
'''Test Rally Points'''
self.load_rally("rover-test-rally.txt")
self.load_rally_using_mavproxy("rover-test-rally.txt")
self.assert_parameter_value('RALLY_TOTAL', 2)
self.wait_ready_to_arm()
self.arm_vehicle()
@ -6293,7 +6294,6 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
self.DriveRTL,
self.SmartRTL,
self.DriveSquare,
self.DriveMaxRCIN,
self.DriveMission,
# self.DriveBrake, # disabled due to frequent failures
self.GetBanner,