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autotest: added automated landing test for ArduPlane

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This commit is contained in:
Andrew Tridgell 2011-12-18 17:29:36 +11:00
parent ac5a76715b
commit 42d7bf7fce
3 changed files with 36 additions and 16 deletions
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13
Tools/autotest/ap1.txt
View File

@ -1,7 +1,8 @@
QGC WPL 110 QGC WPL 110
0 1 0 16 0.000000 0.000000 0.000000 0.000000 -35.362881 149.165222 582.000000 1 0 1 0 16 0 0 0 0 -35.362881 149.165222 582.000000 1
1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 120.000000 1 1 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361553 149.163956 100.000000 1
2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 120.000000 1 2 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364540 149.162857 100.000000 1
3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361721 149.161835 120.000000 1 3 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.361721 149.161835 40.000000 1
4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.364170 149.164627 120.000000 1 4 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.367968 149.164124 25.000000 1
5 0 3 20 0.000000 0.000000 0.000000 0.000000 -35.363289 149.165253 50.000000 1 5 0 3 16 0.000000 0.000000 0.000000 0.000000 -35.366813 149.165883 20.000000 1
6 0 3 21 0.000000 0.000000 0.000000 0.000000 -35.362911 149.165222 0.000000 1

14
Tools/autotest/arduplane.py
View File

@ -19,15 +19,15 @@ def takeoff(mavproxy, mav):
wait_mode(mav, 'FBWA') wait_mode(mav, 'FBWA')
# some rudder to counteract the prop torque # some rudder to counteract the prop torque
mavproxy.send('rc 4 1600\n') mavproxy.send('rc 4 1650\n')
# get it moving a bit first to avoid bad JSBSim ground physics # get it moving a bit first
mavproxy.send('rc 3 1040\n') mavproxy.send('rc 3 1100\n')
mav.recv_match(condition='VFR_HUD.groundspeed>3', blocking=True) mav.recv_match(condition='VFR_HUD.groundspeed>2', blocking=True)
# a bit faster # a bit faster
mavproxy.send('rc 3 1600\n') mavproxy.send('rc 3 1600\n')
mav.recv_match(condition='VFR_HUD.groundspeed>10', blocking=True) mav.recv_match(condition='VFR_HUD.groundspeed>12', blocking=True)
# hit the gas harder now, and give it some elevator # hit the gas harder now, and give it some elevator
mavproxy.send('rc 4 1500\n') mavproxy.send('rc 4 1500\n')
@ -182,9 +182,9 @@ def fly_mission(mavproxy, mav, filename, height_accuracy=-1, target_altitude=Non
mavproxy.expect('Requesting [0-9]+ waypoints') mavproxy.expect('Requesting [0-9]+ waypoints')
mavproxy.send('switch 1\n') # auto mode mavproxy.send('switch 1\n') # auto mode
wait_mode(mav, 'AUTO') wait_mode(mav, 'AUTO')
if not wait_distance(mav, 30, timeout=120): if not wait_waypoint(mav, 1, 6, max_dist=60):
return False return False
if not wait_location(mav, homeloc, accuracy=50, timeout=600, target_altitude=target_altitude, height_accuracy=height_accuracy): if not wait_groundspeed(mav, 0, 0.5):
return False return False
print("Mission OK") print("Mission OK")
return True return True

25
Tools/autotest/common.py
View File

@ -1,4 +1,4 @@
import util, pexpect, time, math import util, pexpect, time, math, mavwp
# a list of pexpect objects to read while waiting for # a list of pexpect objects to read while waiting for
# messages. This keeps the output to stdout flowing # messages. This keeps the output to stdout flowing
@ -88,6 +88,18 @@ def wait_altitude(mav, alt_min, alt_max, timeout=30):
print("Failed to attain altitude range") print("Failed to attain altitude range")
return False return False
def wait_groundspeed(mav, gs_min, gs_max, timeout=30):
'''wait for a given ground speed range'''
tstart = time.time()
print("Waiting for groundspeed between %.1f and %.1f" % (gs_min, gs_max))
while time.time() < tstart + timeout:
m = mav.recv_match(type='VFR_HUD', blocking=True)
print("Wait groundspeed %.1f, target:%.1f" % (m.groundspeed, gs_min))
if m.groundspeed >= gs_min and m.groundspeed <= gs_max:
return True
print("Failed to attain groundspeed range")
return False
def wait_roll(mav, roll, accuracy, timeout=30): def wait_roll(mav, roll, accuracy, timeout=30):
'''wait for a given roll in degrees''' '''wait for a given roll in degrees'''
@ -164,7 +176,7 @@ def wait_location(mav, loc, accuracy=5, timeout=30, target_altitude=None, height
print("Failed to attain location") print("Failed to attain location")
return False return False
def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=400): def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, max_dist=2, timeout=400):
'''wait for waypoint ranges''' '''wait for waypoint ranges'''
tstart = time.time() tstart = time.time()
# this message arrives after we set the current WP # this message arrives after we set the current WP
@ -191,7 +203,7 @@ def wait_waypoint(mav, wpnum_start, wpnum_end, allow_skip=True, timeout=400):
# the wp_dist check is a hack until we can sort out the right seqnum # the wp_dist check is a hack until we can sort out the right seqnum
# for end of mission # for end of mission
#if current_wp == wpnum_end or (current_wp == wpnum_end-1 and wp_dist < 2): #if current_wp == wpnum_end or (current_wp == wpnum_end-1 and wp_dist < 2):
if (current_wp == wpnum_end and wp_dist < 2): if (current_wp == wpnum_end and wp_dist < max_dist):
print("Reached final waypoint %u" % seq) print("Reached final waypoint %u" % seq)
return True return True
if (current_wp == 255): if (current_wp == 255):
@ -212,3 +224,10 @@ def save_wp(mavproxy, mav):
def wait_mode(mav, mode): def wait_mode(mav, mode):
'''wait for a flight mode to be engaged''' '''wait for a flight mode to be engaged'''
mav.recv_match(condition='MAV.flightmode=="%s"' % mode, blocking=True) mav.recv_match(condition='MAV.flightmode=="%s"' % mode, blocking=True)
def mission_count(filename):
'''load a mission from a file and return number of waypoints'''
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return num_wp