mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-05 07:28:29 -04:00
Tools: autotest: Use the generic run_test.
If any of the tests throws an exception, it will be caught by the generic test function that collects all errors and displays them before passing the result to the vehicle testcode. Hence the name of the test and the exception that got raised get printed in a single location. This nicely reduces code duplication.
This commit is contained in:
Karthik Desai
Peter Barker
parent
7a20dd8b73
commit
40cd0cd17f
@ -10,6 +10,10 @@ import time
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from common import AutoTest
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from common import MsgRcvTimeoutException
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from common import NotAchievedException
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from common import PreconditionFailedException
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from pysim import util
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from pymavlink import mavutil
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@ -194,7 +198,6 @@ class AutoTestRover(AutoTest):
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def drive_square(self, side=50):
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"""Drive a square, Driving N then E ."""
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self.progress("TEST SQUARE")
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success = True
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# use LEARNING Mode
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self.mavproxy.send('switch 5\n')
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@ -202,57 +205,42 @@ class AutoTestRover(AutoTest):
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# first aim north
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self.progress("\nTurn right towards north")
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if not self.reach_heading_manual(10):
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success = False
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self.reach_heading_manual(10)
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# save bottom left corner of box as waypoint
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self.progress("Save WP 1 & 2")
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self.save_wp()
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# pitch forward to fly north
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self.progress("\nGoing north %u meters" % side)
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if not self.reach_distance_manual(side):
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success = False
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self.reach_distance_manual(side)
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# save top left corner of square as waypoint
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self.progress("Save WP 3")
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self.save_wp()
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# roll right to fly east
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self.progress("\nGoing east %u meters" % side)
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if not self.reach_heading_manual(100):
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success = False
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if not self.reach_distance_manual(side):
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success = False
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self.reach_heading_manual(100)
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self.reach_distance_manual(side)
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# save top right corner of square as waypoint
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self.progress("Save WP 4")
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self.save_wp()
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# pitch back to fly south
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self.progress("\nGoing south %u meters" % side)
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if not self.reach_heading_manual(190):
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success = False
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if not self.reach_distance_manual(side):
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success = False
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self.reach_heading_manual(190)
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self.reach_distance_manual(side)
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# save bottom right corner of square as waypoint
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self.progress("Save WP 5")
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self.save_wp()
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# roll left to fly west
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self.progress("\nGoing west %u meters" % side)
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if not self.reach_heading_manual(280):
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success = False
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if not self.reach_distance_manual(side):
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success = False
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self.reach_heading_manual(280)
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self.reach_distance_manual(side)
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# save bottom left corner of square (should be near home) as waypoint
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self.progress("Save WP 6")
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self.save_wp()
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return success
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def drive_left_circuit(self):
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"""Drive a left circuit, 50m on a side."""
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self.mavproxy.send('switch 6\n')
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@ -265,15 +253,12 @@ class AutoTestRover(AutoTest):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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if not self.wait_heading(270 - (90*i), accuracy=10):
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return False
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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if not self.wait_distance(50, accuracy=7):
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return False
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self.wait_distance(50, accuracy=7)
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self.set_rc(3, 1500)
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self.progress("Circuit complete")
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return True
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# def test_throttle_failsafe(self, home, distance_min=10, side=60,
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# timeout=300):
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@ -338,11 +323,12 @@ class AutoTestRover(AutoTest):
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self.mavproxy.send('switch 4\n') # auto mode
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self.set_rc(3, 1500)
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self.wait_mode('AUTO')
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if not self.wait_waypoint(1, 4, max_dist=5):
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return False
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self.wait_waypoint(1, 4, max_dist=5)
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self.wait_mode('HOLD')
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self.progress("Mission OK")
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return True
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def drive_mission_rover1(self):
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self.drive_mission(os.path.join(testdir, "rover1.txt"))
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def do_get_banner(self):
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self.mavproxy.send("long DO_SEND_BANNER 1\n")
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@ -353,13 +339,12 @@ class AutoTestRover(AutoTest):
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timeout=1)
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if m is not None and "ArduRover" in m.text:
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self.progress("banner received: %s" % m.text)
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return True
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return
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if time.time() - start > 10:
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break
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self.progress("banner not received")
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return False
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raise MsgRcvTimeoutException()
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def drive_brake_get_stopping_distance(self, speed):
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# measure our stopping distance:
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@ -421,14 +406,12 @@ class AutoTestRover(AutoTest):
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(distance_with_brakes,
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distance_without_brakes,
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delta))
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return False
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else:
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raise NotAchievedException()
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self.progress(
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"Brakes work (with=%0.2fm without=%0.2fm delta=%0.2fm)" %
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(distance_with_brakes, distance_without_brakes, delta))
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return True
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def drive_rtl_mission(self):
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mission_filepath = os.path.join(testdir,
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"ArduRover-Missions",
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@ -445,12 +428,12 @@ class AutoTestRover(AutoTest):
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timeout=0.1)
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if m is None:
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self.progress("Did not receive NAV_CONTROLLER_OUTPUT message")
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return False
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raise MsgRcvTimeoutException()
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wp_dist_min = 5
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if m.wp_dist < wp_dist_min:
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self.progress("Did not start at least 5 metres from destination")
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return False
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raise PreconditionFailedException()
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self.progress("NAV_CONTROLLER_OUTPUT.wp_dist looks good (%u >= %u)" %
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(m.wp_dist, wp_dist_min,))
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@ -463,11 +446,10 @@ class AutoTestRover(AutoTest):
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if home_distance > home_distance_max:
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self.progress("Did not get home (%u metres distant > %u)" %
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(home_distance, home_distance_max))
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return False
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raise NotAchievedException()
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self.mavproxy.send('switch 6\n')
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self.wait_mode('MANUAL')
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self.progress("RTL Mission OK")
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return True
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def test_servorelayevents(self):
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self.mavproxy.send("relay set 0 0\n")
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@ -476,9 +458,8 @@ class AutoTestRover(AutoTest):
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on = self.get_parameter("SIM_PIN_MASK")
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if on == off:
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self.progress("Pin mask unchanged after relay command")
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return False
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raise NotAchievedException()
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self.progress("Pin mask changed after relay command")
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return True
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def autotest(self):
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"""Autotest APMrover2 in SITL."""
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@ -486,8 +467,7 @@ class AutoTestRover(AutoTest):
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self.init()
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self.progress("Started simulator")
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failed = False
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e = 'None'
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self.fail_list = []
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try:
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self.progress("Waiting for a heartbeat with mavlink protocol %s" %
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self.mav.WIRE_PROTOCOL_VERSION)
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@ -503,75 +483,33 @@ class AutoTestRover(AutoTest):
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self.wait_mode('MANUAL')
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self.progress("Waiting reading for arm")
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self.wait_ready_to_arm()
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if not self.arm_vehicle():
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self.progress("Failed to ARM")
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failed = True
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self.arm_vehicle()
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self.progress("#")
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self.progress("########## Drive an RTL mission ##########")
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self.progress("#")
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# Drive a square in learning mode
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# self.reset_and_arm()
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if not self.drive_rtl_mission():
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self.progress("Failed RTL mission")
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failed = True
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self.run_test("Drive an RTL Mission", self.drive_rtl_mission)
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self.progress("#")
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self.progress("########## Drive a square and save WPs with CH7"
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"switch ##########")
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self.progress("#")
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# Drive a square in learning mode
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# self.reset_and_arm()
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if not self.drive_square():
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self.progress("Failed drive square")
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failed = True
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self.run_test("Learn/Drive Square with Ch7 option",
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self.drive_square)
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if not self.drive_mission(os.path.join(testdir, "rover1.txt")):
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self.progress("Failed mission")
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failed = True
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self.run_test("Drive Mission %s" % "rover1.txt",
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self.drive_mission_rover1)
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if not self.drive_brake():
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self.progress("Failed brake")
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failed = True
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self.run_test("Drive Brake", self.drive_brake)
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if not self.disarm_vehicle():
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self.progress("Failed to DISARM")
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failed = True
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self.run_test("Disarm Vehicle", self.disarm_vehicle)
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# do not move this to be the first test. MAVProxy's dedupe
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# function may bite you.
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self.progress("Getting banner")
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if not self.do_get_banner():
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self.progress("FAILED: get banner")
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failed = True
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self.run_test("Get Banner", self.do_get_banner)
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self.progress("Getting autopilot capabilities")
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if not self.do_get_autopilot_capabilities():
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self.progress("FAILED: get capabilities")
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failed = True
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self.run_test("Get Capabilities",
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self.do_get_autopilot_capabilities)
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self.progress("Setting mode via MAV_COMMAND_DO_SET_MODE")
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if not self.do_set_mode_via_command_long():
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failed = True
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self.run_test("Set mode via MAV_COMMAND_DO_SET_MODE",
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self.do_set_mode_via_command_long)
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# test ServoRelayEvents:
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self.progress("########## Test ServoRelayEvents ##########")
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if not self.test_servorelayevents():
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self.progress("Failed servo relay events")
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failed = True
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self.run_test("Test ServoRelayEvents",
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self.test_servorelayevents)
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# Throttle Failsafe
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self.progress("#")
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self.progress("########## Test Failsafe ##########")
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self.progress("#")
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# self.reset_and_arm()
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# if not self.test_throttle_failsafe(HOME, distance_min=4):
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# self.progress("Throttle failsafe failed")
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# sucess = False
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if not self.log_download(self.buildlogs_path("APMrover2-log.bin")):
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self.progress("Failed log download")
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failed = True
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self.run_test("Download logs", lambda:
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self.log_download(self.buildlogs_path("APMrover2-log.bin")))
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# if not drive_left_circuit(self):
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# self.progress("Failed left circuit")
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# failed = True
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@ -581,11 +519,11 @@ class AutoTestRover(AutoTest):
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except pexpect.TIMEOUT as e:
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self.progress("Failed with timeout")
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failed = True
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self.fail_list.append( ("*timeout*", None) )
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self.close()
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if failed:
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self.progress("FAILED: %s" % e)
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if len(self.fail_list):
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self.progress("FAILED STEPS: %s" % self.fail_list)
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return False
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return True
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File diff suppressed because it is too large
Load Diff
@ -11,6 +11,7 @@ from pymavlink import mavutil
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from pysim import util
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from common import AutoTest
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from common import NotAchievedException
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# get location of scripts
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testdir = os.path.dirname(os.path.realpath(__file__))
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@ -104,7 +105,6 @@ class AutoTestPlane(AutoTest):
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def takeoff(self):
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"""Takeoff get to 30m altitude."""
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self.wait_ready_to_arm()
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self.arm_vehicle()
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@ -131,24 +131,21 @@ class AutoTestPlane(AutoTest):
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self.set_rc(3, 2000)
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# gain a bit of altitude
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if not self.wait_altitude(self.homeloc.alt+150,
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self.wait_altitude(self.homeloc.alt+150,
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self.homeloc.alt+180,
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timeout=30):
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return False
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timeout=30)
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# level off
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self.set_rc(2, 1500)
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self.progress("TAKEOFF COMPLETE")
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return True
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def fly_left_circuit(self):
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"""Fly a left circuit, 200m on a side."""
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self.mavproxy.send('switch 4\n')
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self.wait_mode('FBWA')
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self.set_rc(3, 2000)
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if not self.wait_level_flight():
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return False
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self.wait_level_flight()
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self.progress("Flying left circuit")
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# do 4 turns
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@ -156,28 +153,23 @@ class AutoTestPlane(AutoTest):
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# hard left
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self.progress("Starting turn %u" % i)
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self.set_rc(1, 1000)
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if not self.wait_heading(270 - (90*i), accuracy=10):
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return False
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self.wait_heading(270 - (90*i), accuracy=10)
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self.set_rc(1, 1500)
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self.progress("Starting leg %u" % i)
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if not self.wait_distance(100, accuracy=20):
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return False
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self.wait_distance(100, accuracy=20)
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self.progress("Circuit complete")
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return True
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def fly_RTL(self):
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"""Fly to home."""
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self.progress("Flying home in RTL")
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self.mavproxy.send('switch 2\n')
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self.wait_mode('RTL')
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if not self.wait_location(self.homeloc,
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self.wait_location(self.homeloc,
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accuracy=120,
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target_altitude=self.homeloc.alt+100,
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height_accuracy=20,
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timeout=180):
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return False
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timeout=180)
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self.progress("RTL Complete")
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return True
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def fly_LOITER(self, num_circles=4):
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"""Loiter where we are."""
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@ -190,10 +182,8 @@ class AutoTestPlane(AutoTest):
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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if not self.wait_heading(0, accuracy=10, timeout=60):
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return False
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if not self.wait_heading(180, accuracy=10, timeout=60):
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return False
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("Loiter %u circles left" % num_circles)
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@ -207,10 +197,9 @@ class AutoTestPlane(AutoTest):
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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return False
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raise NotAchievedException()
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self.progress("Completed Loiter OK")
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return True
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def fly_CIRCLE(self, num_circles=1):
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"""Circle where we are."""
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@ -223,10 +212,8 @@ class AutoTestPlane(AutoTest):
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self.progress("Initial altitude %u\n" % initial_alt)
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while num_circles > 0:
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if not self.wait_heading(0, accuracy=10, timeout=60):
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return False
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if not self.wait_heading(180, accuracy=10, timeout=60):
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return False
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self.wait_heading(0, accuracy=10, timeout=60)
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self.wait_heading(180, accuracy=10, timeout=60)
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num_circles -= 1
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self.progress("CIRCLE %u circles left" % num_circles)
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@ -240,10 +227,9 @@ class AutoTestPlane(AutoTest):
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if abs(final_alt - initial_alt) > 20:
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self.progress("Failed to maintain altitude")
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return False
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raise NotAchievedException()
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self.progress("Completed CIRCLE OK")
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return True
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def wait_level_flight(self, accuracy=5, timeout=30):
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"""Wait for level flight."""
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@ -259,9 +245,9 @@ class AutoTestPlane(AutoTest):
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self.progress("Roll=%.1f Pitch=%.1f" % (roll, pitch))
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if math.fabs(roll) <= accuracy and math.fabs(pitch) <= accuracy:
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self.progress("Attained level flight")
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return True
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return
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self.progress("Failed to attain level flight")
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return False
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raise NotAchievedException()
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def change_altitude(self, altitude, accuracy=30):
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"""Get to a given altitude."""
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@ -272,8 +258,7 @@ class AutoTestPlane(AutoTest):
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self.set_rc(2, 2000)
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else:
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self.set_rc(2, 1000)
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if not self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2):
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return False
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self.wait_altitude(altitude-accuracy/2, altitude+accuracy/2)
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self.set_rc(2, 1500)
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self.progress("Reached target altitude at %u" %
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self.mav.messages['VFR_HUD'].alt)
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@ -283,8 +268,7 @@ class AutoTestPlane(AutoTest):
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"""Fly a left axial roll."""
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# full throttle!
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self.set_rc(3, 2000)
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if not self.change_altitude(self.homeloc.alt+300):
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return False
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self.change_altitude(self.homeloc.alt+300)
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|
||||
# fly the roll in manual
|
||||
self.mavproxy.send('switch 6\n')
|
||||
@ -293,15 +277,13 @@ class AutoTestPlane(AutoTest):
|
||||
while count > 0:
|
||||
self.progress("Starting roll")
|
||||
self.set_rc(1, 1000)
|
||||
if not self.wait_roll(-150, accuracy=90):
|
||||
try:
|
||||
self.wait_roll(-150, accuracy=90)
|
||||
self.wait_roll(150, accuracy=90)
|
||||
self.wait_roll(0, accuracy=90)
|
||||
except Exception as e:
|
||||
self.set_rc(1,1500)
|
||||
return False
|
||||
if not self.wait_roll(150, accuracy=90):
|
||||
self.set_rc(1, 1500)
|
||||
return False
|
||||
if not self.wait_roll(0, accuracy=90):
|
||||
self.set_rc(1, 1500)
|
||||
return False
|
||||
raise e
|
||||
count -= 1
|
||||
|
||||
# back to FBWA
|
||||
@ -315,9 +297,7 @@ class AutoTestPlane(AutoTest):
|
||||
"""Fly a inside loop."""
|
||||
# full throttle!
|
||||
self.set_rc(3, 2000)
|
||||
if not self.change_altitude(self.homeloc.alt+300):
|
||||
return False
|
||||
|
||||
self.change_altitude(self.homeloc.alt+300)
|
||||
# fly the loop in manual
|
||||
self.mavproxy.send('switch 6\n')
|
||||
self.wait_mode('MANUAL')
|
||||
@ -325,10 +305,8 @@ class AutoTestPlane(AutoTest):
|
||||
while count > 0:
|
||||
self.progress("Starting loop")
|
||||
self.set_rc(2, 1000)
|
||||
if not self.wait_pitch(-60, accuracy=20):
|
||||
return False
|
||||
if not self.wait_pitch(0, accuracy=20):
|
||||
return False
|
||||
self.wait_pitch(-60, accuracy=20)
|
||||
self.wait_pitch(0, accuracy=20)
|
||||
count -= 1
|
||||
|
||||
# back to FBWA
|
||||
@ -343,8 +321,7 @@ class AutoTestPlane(AutoTest):
|
||||
# full throttle!
|
||||
self.set_rc(3, 2000)
|
||||
self.set_rc(2, 1300)
|
||||
if not self.change_altitude(self.homeloc.alt+300):
|
||||
return False
|
||||
self.change_altitude(self.homeloc.alt+300)
|
||||
self.set_rc(2, 1500)
|
||||
|
||||
self.mavproxy.send("mode STABILIZE\n")
|
||||
@ -354,17 +331,13 @@ class AutoTestPlane(AutoTest):
|
||||
while count > 0:
|
||||
self.progress("Starting roll")
|
||||
self.set_rc(1, 2000)
|
||||
if not self.wait_roll(-150, accuracy=90):
|
||||
return False
|
||||
if not self.wait_roll(150, accuracy=90):
|
||||
return False
|
||||
if not self.wait_roll(0, accuracy=90):
|
||||
return False
|
||||
self.wait_roll(-150, accuracy=90)
|
||||
self.wait_roll(150, accuracy=90)
|
||||
self.wait_roll(0, accuracy=90)
|
||||
count -= 1
|
||||
|
||||
self.set_rc(1, 1500)
|
||||
if not self.wait_roll(0, accuracy=5):
|
||||
return False
|
||||
self.wait_roll(0, accuracy=5)
|
||||
|
||||
# back to FBWA
|
||||
self.mavproxy.send('mode FBWA\n')
|
||||
@ -377,8 +350,7 @@ class AutoTestPlane(AutoTest):
|
||||
# full throttle!
|
||||
self.set_rc(3, 2000)
|
||||
self.set_rc(2, 1300)
|
||||
if not self.change_altitude(self.homeloc.alt+300):
|
||||
return False
|
||||
self.change_altitude(self.homeloc.alt+300)
|
||||
self.set_rc(2, 1500)
|
||||
|
||||
self.mavproxy.send("mode ACRO\n")
|
||||
@ -388,12 +360,9 @@ class AutoTestPlane(AutoTest):
|
||||
while count > 0:
|
||||
self.progress("Starting roll")
|
||||
self.set_rc(1, 1000)
|
||||
if not self.wait_roll(-150, accuracy=90):
|
||||
return False
|
||||
if not self.wait_roll(150, accuracy=90):
|
||||
return False
|
||||
if not self.wait_roll(0, accuracy=90):
|
||||
return False
|
||||
self.wait_roll(-150, accuracy=90)
|
||||
self.wait_roll(150, accuracy=90)
|
||||
self.wait_roll(0, accuracy=90)
|
||||
count -= 1
|
||||
self.set_rc(1, 1500)
|
||||
|
||||
@ -410,10 +379,8 @@ class AutoTestPlane(AutoTest):
|
||||
while count > 0:
|
||||
self.progress("Starting loop")
|
||||
self.set_rc(2, 1000)
|
||||
if not self.wait_pitch(-60, accuracy=20):
|
||||
return False
|
||||
if not self.wait_pitch(0, accuracy=20):
|
||||
return False
|
||||
self.wait_pitch(-60, accuracy=20)
|
||||
self.wait_pitch(0, accuracy=20)
|
||||
count -= 1
|
||||
|
||||
self.set_rc(2, 1500)
|
||||
@ -447,13 +414,14 @@ class AutoTestPlane(AutoTest):
|
||||
# hard left
|
||||
self.progress("Starting turn %u" % i)
|
||||
self.set_rc(1, 1800)
|
||||
if not self.wait_heading(0 + (90*i), accuracy=20, timeout=60):
|
||||
try:
|
||||
self.wait_heading(0 + (90*i), accuracy=20, timeout=60)
|
||||
except Exception as e:
|
||||
self.set_rc(1, 1500)
|
||||
return False
|
||||
raise e
|
||||
self.set_rc(1, 1500)
|
||||
self.progress("Starting leg %u" % i)
|
||||
if not self.wait_distance(100, accuracy=20):
|
||||
return False
|
||||
self.wait_distance(100, accuracy=20)
|
||||
self.progress("Circuit complete")
|
||||
|
||||
self.progress("Flying rudder left circuit")
|
||||
@ -462,13 +430,14 @@ class AutoTestPlane(AutoTest):
|
||||
# hard left
|
||||
self.progress("Starting turn %u" % i)
|
||||
self.set_rc(4, 1900)
|
||||
if not self.wait_heading(360 - (90*i), accuracy=20, timeout=60):
|
||||
try:
|
||||
self.wait_heading(360 - (90*i), accuracy=20, timeout=60)
|
||||
except Exception as e:
|
||||
self.set_rc(4, 1500)
|
||||
return False
|
||||
raise e
|
||||
self.set_rc(4, 1500)
|
||||
self.progress("Starting leg %u" % i)
|
||||
if not self.wait_distance(100, accuracy=20):
|
||||
return False
|
||||
self.wait_distance(100, accuracy=20)
|
||||
self.progress("Circuit complete")
|
||||
|
||||
m = self.mav.recv_match(type='VFR_HUD', blocking=True)
|
||||
@ -482,7 +451,7 @@ class AutoTestPlane(AutoTest):
|
||||
|
||||
if abs(final_alt - initial_alt) > 20:
|
||||
self.progress("Failed to maintain altitude")
|
||||
return False
|
||||
raise NotAchievedException()
|
||||
|
||||
return self.wait_level_flight()
|
||||
|
||||
@ -495,22 +464,17 @@ class AutoTestPlane(AutoTest):
|
||||
self.mavproxy.expect('Requesting [0-9]+ waypoints')
|
||||
self.mavproxy.send('switch 1\n') # auto mode
|
||||
self.wait_mode('AUTO')
|
||||
if not self.wait_waypoint(1, 7, max_dist=60):
|
||||
return False
|
||||
if not self.wait_groundspeed(0, 0.5, timeout=60):
|
||||
return False
|
||||
self.wait_waypoint(1, 7, max_dist=60)
|
||||
self.wait_groundspeed(0, 0.5, timeout=60)
|
||||
self.mavproxy.expect("Auto disarmed")
|
||||
self.progress("Mission OK")
|
||||
return True
|
||||
|
||||
def autotest(self):
|
||||
"""Autotest ArduPlane in SITL."""
|
||||
if not self.hasInit:
|
||||
self.init()
|
||||
|
||||
failed = False
|
||||
fail_list = []
|
||||
e = 'None'
|
||||
self.fail_list = []
|
||||
try:
|
||||
self.progress("Waiting for a heartbeat with mavlink protocol %s"
|
||||
% self.mav.WIRE_PROTOCOL_VERSION)
|
||||
@ -526,69 +490,42 @@ class AutoTestPlane(AutoTest):
|
||||
self.mav.wait_gps_fix()
|
||||
self.homeloc = self.mav.location()
|
||||
self.progress("Home location: %s" % self.homeloc)
|
||||
if not self.takeoff():
|
||||
self.progress("Failed takeoff")
|
||||
failed = True
|
||||
fail_list.append("takeoff")
|
||||
if not self.fly_left_circuit():
|
||||
self.progress("Failed left circuit")
|
||||
failed = True
|
||||
fail_list.append("left_circuit")
|
||||
if not self.axial_left_roll(1):
|
||||
self.progress("Failed left roll")
|
||||
failed = True
|
||||
fail_list.append("left_roll")
|
||||
if not self.inside_loop():
|
||||
self.progress("Failed inside loop")
|
||||
failed = True
|
||||
fail_list.append("inside_loop")
|
||||
if not self.test_stabilize():
|
||||
self.progress("Failed stabilize test")
|
||||
failed = True
|
||||
fail_list.append("stabilize")
|
||||
if not self.test_acro():
|
||||
self.progress("Failed ACRO test")
|
||||
failed = True
|
||||
fail_list.append("acro")
|
||||
if not self.test_FBWB():
|
||||
self.progress("Failed FBWB test")
|
||||
failed = True
|
||||
fail_list.append("fbwb")
|
||||
if not self.test_FBWB(mode='CRUISE'):
|
||||
self.progress("Failed CRUISE test")
|
||||
failed = True
|
||||
fail_list.append("cruise")
|
||||
if not self.fly_RTL():
|
||||
self.progress("Failed RTL")
|
||||
failed = True
|
||||
fail_list.append("RTL")
|
||||
if not self.fly_LOITER():
|
||||
self.progress("Failed LOITER")
|
||||
failed = True
|
||||
fail_list.append("LOITER")
|
||||
if not self.fly_CIRCLE():
|
||||
self.progress("Failed CIRCLE")
|
||||
failed = True
|
||||
fail_list.append("LOITER")
|
||||
if not self.fly_mission(os.path.join(testdir, "ap1.txt"),
|
||||
|
||||
self.run_test("Takeoff", self.takeoff)
|
||||
|
||||
self.run_test("Fly left circuit", self.fly_left_circuit)
|
||||
|
||||
self.run_test("Left roll", lambda: self.axial_left_roll(1))
|
||||
|
||||
self.run_test("Inside loop", self.inside_loop)
|
||||
|
||||
self.run_test("Stablize test", self.test_stabilize)
|
||||
|
||||
self.run_test("ACRO test", self.test_acro)
|
||||
|
||||
self.run_test("FBWB test", self.test_FBWB)
|
||||
|
||||
self.run_test("CRUISE test", lambda: self.test_FBWB(mode='CRUISE'))
|
||||
|
||||
self.run_test("RTL test", self.fly_RTL)
|
||||
|
||||
self.run_test("LOITER test", self.fly_LOITER)
|
||||
|
||||
self.run_test("CIRCLE test", self.fly_CIRCLE)
|
||||
|
||||
self.run_test("Mission test", lambda: self.fly_mission(os.path.join(testdir, "ap1.txt"),
|
||||
height_accuracy=10,
|
||||
target_altitude=self.homeloc.alt+100):
|
||||
self.progress("Failed mission")
|
||||
failed = True
|
||||
fail_list.append("mission")
|
||||
if not self.log_download(self.buildlogs_path("ArduPlane-log.bin")):
|
||||
self.progress("Failed log download")
|
||||
failed = True
|
||||
fail_list.append("log_download")
|
||||
target_altitude=self.homeloc.alt+100))
|
||||
|
||||
self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduPlane-log.bin")))
|
||||
|
||||
except pexpect.TIMEOUT as e:
|
||||
self.progress("Failed with timeout")
|
||||
failed = True
|
||||
fail_list.append("timeout")
|
||||
self.fail_list.append("timeout")
|
||||
|
||||
self.close()
|
||||
|
||||
if failed:
|
||||
self.progress("FAILED: %s" % e)
|
||||
self.progress("Fail list: %s" % fail_list)
|
||||
if len(self.fail_list):
|
||||
self.progress("FAILED: %s" % self.fail_list)
|
||||
return False
|
||||
return True
|
||||
|
||||
@ -103,39 +103,27 @@ class AutoTestSub(AutoTest):
|
||||
self.set_rc(5, 1600)
|
||||
self.set_rc(6, 1550)
|
||||
|
||||
if not self.wait_distance(50, accuracy=7, timeout=200):
|
||||
return False
|
||||
|
||||
self.wait_distance(50, accuracy=7, timeout=200)
|
||||
self.set_rc(4, 1550)
|
||||
|
||||
if not self.wait_heading(0):
|
||||
return False
|
||||
|
||||
self.wait_heading(0)
|
||||
self.set_rc(4, 1500)
|
||||
|
||||
if not self.wait_distance(50, accuracy=7, timeout=100):
|
||||
return False
|
||||
|
||||
self.wait_distance(50, accuracy=7, timeout=100)
|
||||
self.set_rc(4, 1550)
|
||||
|
||||
if not self.wait_heading(0):
|
||||
return False
|
||||
|
||||
self.wait_heading(0)
|
||||
self.set_rc(4, 1500)
|
||||
self.set_rc(5, 1500)
|
||||
self.set_rc(6, 1100)
|
||||
|
||||
if not self.wait_distance(75, accuracy=7, timeout=100):
|
||||
return False
|
||||
|
||||
self.wait_distance(75, accuracy=7, timeout=100)
|
||||
self.set_rc_default()
|
||||
|
||||
self.disarm_vehicle()
|
||||
self.progress("Manual dive OK")
|
||||
return True
|
||||
|
||||
def dive_mission(self, filename):
|
||||
|
||||
self.progress("Executing mission %s" % filename)
|
||||
self.mavproxy.send('wp load %s\n' % filename)
|
||||
self.mavproxy.expect('Flight plan received')
|
||||
@ -143,28 +131,23 @@ class AutoTestSub(AutoTest):
|
||||
self.mavproxy.expect('Saved [0-9]+ waypoints')
|
||||
self.set_rc_default()
|
||||
|
||||
if not self.arm_vehicle():
|
||||
self.progress("Failed to ARM")
|
||||
return False
|
||||
self.arm_vehicle()
|
||||
|
||||
self.mavproxy.send('mode auto\n')
|
||||
self.wait_mode('AUTO')
|
||||
|
||||
if not self.wait_waypoint(1, 5, max_dist=5):
|
||||
return False
|
||||
self.wait_waypoint(1, 5, max_dist=5)
|
||||
|
||||
self.disarm_vehicle()
|
||||
|
||||
self.progress("Mission OK")
|
||||
return True
|
||||
|
||||
def autotest(self):
|
||||
"""Autotest ArduSub in SITL."""
|
||||
if not self.hasInit:
|
||||
self.init()
|
||||
|
||||
failed = False
|
||||
e = 'None'
|
||||
self.fail_list = []
|
||||
try:
|
||||
self.progress("Waiting for a heartbeat with mavlink protocol %s"
|
||||
% self.mav.WIRE_PROTOCOL_VERSION)
|
||||
@ -179,25 +162,22 @@ class AutoTestSub(AutoTest):
|
||||
self.homeloc = self.mav.location()
|
||||
self.progress("Home location: %s" % self.homeloc)
|
||||
self.set_rc_default()
|
||||
if not self.arm_vehicle():
|
||||
self.progress("Failed to ARM")
|
||||
failed = True
|
||||
if not self.dive_manual():
|
||||
self.progress("Failed manual dive")
|
||||
failed = True
|
||||
if not self.dive_mission(os.path.join(testdir, "sub_mission.txt")):
|
||||
self.progress("Failed auto mission")
|
||||
failed = True
|
||||
if not self.log_download(self.buildlogs_path("ArduSub-log.bin")):
|
||||
self.progress("Failed log download")
|
||||
failed = True
|
||||
|
||||
self.run_test("Arm vehicle", self.arm_vehicle)
|
||||
|
||||
self.run_test("Dive manual", self.dive_manual)
|
||||
|
||||
self.run_test("Dive mission", lambda: self.dive_mission(os.path.join(testdir, "sub_mission.txt")))
|
||||
|
||||
self.run_test("Log download", lambda: self.log_download(self.buildlogs_path("ArduSub-log.bin")))
|
||||
|
||||
except pexpect.TIMEOUT as e:
|
||||
self.progress("Failed with timeout")
|
||||
failed = True
|
||||
self.fail_list.append("Failed with timeout")
|
||||
|
||||
self.close()
|
||||
|
||||
if failed:
|
||||
self.progress("FAILED: %s" % e)
|
||||
if len(self.fail_list):
|
||||
self.progress("FAILED: %s" % self.fail_list)
|
||||
return False
|
||||
return True
|
||||
|
||||
@ -134,25 +134,24 @@ class AutoTestQuadPlane(AutoTest):
|
||||
self.mavproxy.expect('Requesting [0-9]+ waypoints')
|
||||
self.mavproxy.send('mode AUTO\n')
|
||||
self.wait_mode('AUTO')
|
||||
if not self.wait_waypoint(1, 19, max_dist=60, timeout=1200):
|
||||
return False
|
||||
self.wait_waypoint(1, 19, max_dist=60, timeout=1200)
|
||||
|
||||
self.mavproxy.expect('DISARMED')
|
||||
# wait for blood sample here
|
||||
self.mavproxy.send('wp set 20\n')
|
||||
self.arm_vehicle()
|
||||
if not self.wait_waypoint(20, 34, max_dist=60, timeout=1200):
|
||||
return False
|
||||
self.wait_waypoint(20, 34, max_dist=60, timeout=1200)
|
||||
|
||||
self.mavproxy.expect('DISARMED')
|
||||
self.progress("Mission OK")
|
||||
return True
|
||||
|
||||
def autotest(self):
|
||||
"""Autotest QuadPlane in SITL."""
|
||||
if not self.hasInit:
|
||||
self.init()
|
||||
|
||||
failed = False
|
||||
e = 'None'
|
||||
self.fail_list = []
|
||||
|
||||
try:
|
||||
self.progress("Waiting for a heartbeat with mavlink protocol %s"
|
||||
% self.mav.WIRE_PROTOCOL_VERSION)
|
||||
@ -174,16 +173,15 @@ class AutoTestQuadPlane(AutoTest):
|
||||
m = os.path.join(testdir, "ArduPlane-Missions/Dalby-OBC2016.txt")
|
||||
f = os.path.join(testdir,
|
||||
"ArduPlane-Missions/Dalby-OBC2016-fence.txt")
|
||||
if not self.fly_mission(m, f):
|
||||
self.progress("Failed mission")
|
||||
failed = True
|
||||
|
||||
self.run_test("Mission", lambda: self.fly_mission(m, f))
|
||||
except pexpect.TIMEOUT as e:
|
||||
self.progress("Failed with timeout")
|
||||
failed = True
|
||||
self.fail_list.append("Failed with timeout")
|
||||
|
||||
self.close()
|
||||
|
||||
if failed:
|
||||
self.progress("FAILED: %s" % e)
|
||||
if len(self.fail_list):
|
||||
self.progress("FAILED: %s" % self.fail_list)
|
||||
return False
|
||||
return True
|
||||
|
||||
Loading…
Reference in New Issue
Block a user