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autotest: ensure defaults files don't set already-default-values 

autotest: mark some vehicles as having external physics models

autotest: add default_params_filename to some vehicle info
This commit is contained in:
Peter Barker 2021-01-15 16:13:01 +11:00 committed by Andrew Tridgell
parent 7d86cc08ad
commit 3d431cd4f1
8 changed files with 93 additions and 13 deletions
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6
Tools/autotest/antennatracker.py
View File

@ -149,10 +149,12 @@ class AutoTestTracker(AutoTest):
comparator=operator.le)
def disabled_tests(self):
return {
ret = super(AutoTestTracker, self).disabled_tests()
ret.update({
"ArmFeatures": "See https://github.com/ArduPilot/ardupilot/issues/10652",
"CPUFailsafe": " tracker doesn't have a CPU failsafe",
}
})
return ret
def tests(self):
'''return list of all tests'''

12
Tools/autotest/arducopter.py
View File

@ -6274,11 +6274,13 @@ class AutoTestCopter(AutoTest):
return ret
def disabled_tests(self):
return {
ret = super(AutoTestCopter, self).disabled_tests()
ret.update({
"Parachute": "See https://github.com/ArduPilot/ardupilot/issues/4702",
"HorizontalAvoidFence": "See https://github.com/ArduPilot/ardupilot/issues/11525",
"AltEstimation": "See https://github.com/ArduPilot/ardupilot/issues/15191",
}
})
return ret
class AutoTestHeli(AutoTestCopter):
@ -6577,9 +6579,11 @@ class AutoTestHeli(AutoTestCopter):
return ret
def disabled_tests(self):
return {
ret = super(AutoTestHeli, self).disabled_tests()
ret.update({
"SplineWaypoint": "See https://github.com/ArduPilot/ardupilot/issues/14593",
}
})
return ret
class AutoTestCopterTests1(AutoTestCopter):
def tests(self):

6
Tools/autotest/arduplane.py
View File

@ -2204,5 +2204,7 @@ class AutoTestPlane(AutoTest):
return ret
def disabled_tests(self):
return {
}
ret = super(AutoTestPlane, self).disabled_tests()
ret.update({
})
return ret

1
Tools/autotest/ardusub.py
View File

@ -342,6 +342,7 @@ class AutoTestSub(AutoTest):
ret = super(AutoTestSub, self).disabled_tests()
ret.update({
"ConfigErrorLoop": "Sub does not instantiate AP_Stats. Also see https://github.com/ArduPilot/ardupilot/issues/10247",
"FrameDefaults": "Sub maintainers want all values in files",
})
return ret

59
Tools/autotest/common.py
View File

@ -7828,7 +7828,9 @@ switch value'''
self.test_parameters_download()
def disabled_tests(self):
return {}
return {
"FrameDefaults": "Time constraints say we might not want to run this",
}
def test_parameter_checks_poscontrol(self, param_prefix):
self.wait_ready_to_arm()
@ -8983,6 +8985,56 @@ switch value'''
if ex is not None:
raise ex
def check_frame_defaults(self, model):
'''check each of the entries in VehicleInfo to see if they override
parameters they shouldn't'''
defaults_filepath = self.model_defaults_filepath(self.vehicleinfo_key(), model)
# we start the model but without passing through the defaults:
self.customise_SITL_commandline(
[],
model=model,
defaults_filepath=[],
wipe=True)
failed = []
for filepath in defaults_filepath:
parameters = mavparm.MAVParmDict()
if not os.path.exists(filepath):
# raise NotAchievedException("Bad parameter file referenced: %s" % str(filepath))
failed.append("Bad parameter file referenced: %s" % str(filepath))
parameters.load(filepath)
for (file_param_name, file_param_value) in parameters.items():
try:
current_value = self.get_parameter(file_param_name, verbose=False)
except NotAchievedException as e:
failed.append("%s in (%s) but not in firmware" %
(filepath, file_param_name))
continue
if current_value == parameters[file_param_name]:
failed.append("%s has same value (%f) in (%s) and in firmware" %
(filepath, current_value, file_param_name))
continue
if len(failed):
self.progress("Frame (%s) failed:" % (model, ))
for i in failed:
self.progress(" %s" % i)
return False
return True
def check_frames_defaults(self):
vinfo = vehicleinfo.VehicleInfo()
success = True
frames = vinfo.options[self.vehicleinfo_key()]["frames"]
for frame in frames:
if frames[frame].get("external_model", False):
continue
self.progress("Checking frame (%s)" % str(frame))
if not self.check_frame_defaults(frame):
success = False
self.customise_SITL_commandline(["--unhide-groups"])
if not success:
raise NotAchievedException("Defaults files validation failed")
def tests(self):
return [
("PIDTuning",
@ -9022,6 +9074,10 @@ switch value'''
("InitialMode",
"Test initial mode switching",
self.test_initial_mode),
("FrameDefaults",
"Test Frame defaults file",
self.check_frames_defaults),
]
def post_tests_announcements(self):
@ -9056,6 +9112,7 @@ switch value'''
return ret
def mavfft_fttd(self, sensor_type, sensor_instance, since, until):
'''display fft for raw ACC data in current logfile'''
'''object to store data about a single FFT plot'''

10
Tools/autotest/pysim/vehicleinfo.py
View File

@ -106,16 +106,19 @@ class VehicleInfo(object):
"IrisRos": {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
"external_model": True,
},
"gazebo-iris": {
"waf_target": "bin/arducopter",
"default_params_filename": ["default_params/copter.parm",
"default_params/gazebo-iris.parm"],
"external_model": True,
},
"airsim-copter": {
"waf_target": "bin/arducopter",
"default_params_filename": ["default_params/copter.parm",
"default_params/airsim-quadX.parm"],
"external_model": True,
},
# HELICOPTER
"heli": {
@ -129,6 +132,7 @@ class VehicleInfo(object):
},
"heli-compound": {
"waf_target": "bin/arducopter-heli",
"default_params_filename": ["default_params/copter-heli.parm"],
},
"singlecopter": {
"waf_target": "bin/arducopter",
@ -142,9 +146,11 @@ class VehicleInfo(object):
"scrimmage-copter" : {
"waf_target": "bin/arducopter",
"default_params_filename": "default_params/copter.parm",
"external_model": True,
},
"calibration": {
"extra_mavlink_cmds": "module load sitl_calibration;",
"default_params_filename": [],
},
"Callisto": {
"model": "octa-quad:@ROMFS/models/Callisto.json",
@ -270,14 +276,17 @@ class VehicleInfo(object):
"waf_target": "bin/ardurover",
"default_params_filename": ["default_params/rover.parm",
"default_params/rover-skid.parm"],
"external_model": True,
},
"airsim-rover": {
"waf_target": "bin/ardurover",
"default_params_filename": ["default_params/rover.parm",
"default_params/airsim-rover.parm"],
"external_model": True,
},
"calibration": {
"extra_mavlink_cmds": "module load sitl_calibration;",
"default_params_filename": [],
},
},
},
@ -303,6 +312,7 @@ class VehicleInfo(object):
"frames": {
"tracker": {
"waf_target": "bin/antennatracker",
"default_params_filename": [],
},
},
},

6
Tools/autotest/quadplane.py
View File

@ -567,11 +567,13 @@ class AutoTestQuadPlane(AutoTest):
return "MANUAL"
def disabled_tests(self):
return {
ret = super(AutoTestQuadPlane, self).disabled_tests()
ret.update({
"QAutoTune": "See https://github.com/ArduPilot/ardupilot/issues/10411",
"FRSkyPassThrough": "Currently failing",
"CPUFailsafe": "servo channel values not scaled like ArduPlane",
}
})
return ret
def test_pilot_yaw(self):
self.takeoff(10, mode="QLOITER")

6
Tools/autotest/rover.py
View File

@ -5640,10 +5640,12 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
return ret
def disabled_tests(self):
return {
ret = super(AutoTestRover, self).disabled_tests()
ret.update({
"DriveMaxRCIN": "currently triggers Arithmetic Exception",
"SlewRate": "got timing report failure on CI",
}
})
return ret
def rc_defaults(self):
ret = super(AutoTestRover, self).rc_defaults()