diff --git a/Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt b/Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt new file mode 100644 index 0000000000..eb3c1ef9bb --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt @@ -0,0 +1,6 @@ +40.071308 -105.229759 +40.071434 -105.229958 +40.071224 -105.229935 +40.071228 -105.229546 +40.071449 -105.229530 +40.071434 -105.229958 diff --git a/Tools/autotest/ArduRover-Missions/test_arming.txt b/Tools/autotest/ArduRover_Tests/ArmFeatures/test_arming.txt similarity index 100% rename from Tools/autotest/ArduRover-Missions/test_arming.txt rename to Tools/autotest/ArduRover_Tests/ArmFeatures/test_arming.txt diff --git a/Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt b/Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt new file mode 100644 index 0000000000..672f034264 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt @@ -0,0 +1,7 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 -0.110000 1 +1 0 0 206 2.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071968 -105.229782 0.000000 1 +3 0 0 206 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.072365 -105.229774 0.000000 1 +5 0 3 16 0.000000 0.000000 0.000000 0.000000 40.072872 -105.229752 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt b/Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt new file mode 100644 index 0000000000..7e121c7533 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt @@ -0,0 +1,20 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071289 -105.230057 11085.900391 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071186 -105.230064 9502.200195 1 +2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071083 -105.230026 11085.900391 1 +3 0 3 178 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071011 -105.230003 11085.900391 1 +5 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070999 -105.229919 11085.900391 1 +6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1 +7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1 +8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1 +9 0 3 178 0.000000 0.800000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1 +11 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1 +12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1 +13 0 3 178 0.000000 1.200000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1 +15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1 +16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1 +17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1 +18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1 diff --git a/Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt b/Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt new file mode 100644 index 0000000000..8d14fa00ea --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt @@ -0,0 +1,21 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 1583.699951 1 +1 0 3 178 0.000000 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +2 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071289 -105.230057 11085.900391 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071186 -105.230064 9502.200195 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071083 -105.230026 11085.900391 1 +5 0 3 178 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +6 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071011 -105.230003 11085.900391 1 +7 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070999 -105.229919 11085.900391 1 +8 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070900 -105.229950 11085.900391 1 +9 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070843 -105.229858 11085.889648 1 +10 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070801 -105.229820 11085.849609 1 +11 0 3 178 0.000000 5.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +12 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070721 -105.229736 11085.900391 1 +13 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070827 -105.229530 11086.000000 1 +14 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070904 -105.229362 11085.929688 1 +15 0 3 16 0.000000 0.000000 0.000000 0.000000 40.070995 -105.229118 12669.580078 1 +16 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071133 -105.229233 11085.900391 1 +17 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071255 -105.229355 11085.900391 1 +18 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071404 -105.229485 9502.200195 1 +19 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071369 -105.229828 9502.200195 1 diff --git a/Tools/autotest/ArduRover-Missions/rtl.txt b/Tools/autotest/ArduRover_Tests/DriveRTL/rtl.txt similarity index 100% rename from Tools/autotest/ArduRover-Missions/rtl.txt rename to Tools/autotest/ArduRover_Tests/DriveRTL/rtl.txt diff --git a/Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt b/Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt new file mode 100644 index 0000000000..75fae56407 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt @@ -0,0 +1,6 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1 +2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1 +4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt b/Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt new file mode 100644 index 0000000000..75fae56407 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt @@ -0,0 +1,6 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1 +2 0 0 211 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +3 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1 +4 0 0 211 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt b/Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt new file mode 100644 index 0000000000..e1ee106e6b --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt @@ -0,0 +1,7 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.0713750 -105.229789 0 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713350 -105.229779 0.000000 1 +2 0 0 222 10.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 +3 0 0 92 1.000000 0.000000 0.000000 0.000000 39.000000 104.000000 0.000000 1 +4 0 3 16 0.000000 0.000000 0.000000 0.000000 40.0713550 -105.229769 0.000000 1 +5 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt new file mode 100644 index 0000000000..67feb4beb8 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt @@ -0,0 +1,25 @@ +QGC WPL 110 +0 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071613 -105.230118 0.000000 0 +1 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071644 -105.229393 0.000000 0 +2 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071106 -105.229393 0.000000 0 +3 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071747 -105.228668 0.000000 0 +4 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072220 -105.228775 0.000000 0 +5 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072357 -105.229729 0.000000 0 +6 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072777 -105.229988 0.000000 0 +7 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073181 -105.228897 0.000000 0 +8 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072914 -105.228073 0.000000 0 +9 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073387 -105.228180 0.000000 0 +10 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073635 -105.229431 0.000000 0 +11 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073967 -105.229301 0.000000 0 +12 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.073891 -105.227478 0.000000 0 +13 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072697 -105.227440 0.000000 0 +14 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.072430 -105.227898 0.000000 0 +15 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071880 -105.227196 0.000000 0 +16 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.071407 -105.227730 0.000000 0 +17 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070194 -105.227249 0.000000 0 +18 0 0 5001 19.000000 0.000000 0.000000 0.000000 40.070175 -105.230110 0.000000 0 +19 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071922 -105.228676 0.000000 0 +20 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071712 -105.228172 0.000000 0 +21 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071560 -105.228676 0.000000 0 +22 0 0 5002 4.000000 0.000000 0.000000 0.000000 40.071739 -105.228920 0.000000 0 +23 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.072430 -105.228004 0.000000 0 diff --git a/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt new file mode 100644 index 0000000000..46281973b7 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt @@ -0,0 +1,4 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.073799 -105.229156 100.000000 1 +2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt new file mode 100644 index 0000000000..ace97c223c --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt @@ -0,0 +1,11 @@ +QGC WPL 110 +0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0 +1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0 +2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0 +3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0 +4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0 +5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0 +6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0 +7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0 +8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0 +9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0 diff --git a/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt new file mode 100644 index 0000000000..ace97c223c --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt @@ -0,0 +1,11 @@ +QGC WPL 110 +0 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071766 -105.230202 0.000000 0 +1 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.230247 0.000000 0 +2 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071014 -105.228821 0.000000 0 +3 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071609 -105.228867 0.000000 0 +4 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.071602 -105.228172 0.000000 0 +5 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070858 -105.227982 0.000000 0 +6 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.070789 -105.226219 0.000000 0 +7 0 0 5001 8.000000 0.000000 0.000000 0.000000 40.072453 -105.226379 0.000000 0 +8 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071609 -105.228172 0.000000 0 +9 0 0 5004 20.000000 0.000000 0.000000 0.000000 40.071625 -105.227982 0.000000 0 diff --git a/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt new file mode 100644 index 0000000000..f15b78a66a --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt @@ -0,0 +1,4 @@ +QGC WPL 110 +0 0 0 16 0.000000 0.000000 0.000000 0.000000 40.071377 -105.229790 0.000000 1 +1 0 3 16 0.000000 0.000000 0.000000 0.000000 40.071260 -105.227000 100.000000 1 +2 0 0 20 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1 diff --git a/Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt b/Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt new file mode 100644 index 0000000000..5b66773958 --- /dev/null +++ b/Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt @@ -0,0 +1,2 @@ +RALLY 40.071553 -105.229401 0.000000 40.000000 0.000000 0 +RALLY 40.072265 -105.231136 0.000000 40.000000 0.000000 0 diff --git a/Tools/autotest/apmrover2.py b/Tools/autotest/apmrover2.py index 5029560aa7..312cf40540 100644 --- a/Tools/autotest/apmrover2.py +++ b/Tools/autotest/apmrover2.py @@ -55,6 +55,9 @@ class AutoTestRover(AutoTest): def test_filepath(self): return os.path.realpath(__file__) + def set_current_test_name(self, name): + self.current_test_name_directory = "ArduRover_Tests/" + name + "/" + def sitl_start_location(self): return SITL_START_LOCATION @@ -67,9 +70,6 @@ class AutoTestRover(AutoTest): def get_stick_arming_channel(self): return int(self.get_parameter("RCMAP_ROLL")) - def arming_test_mission(self): - return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt") - ########################################################## # TESTS DRIVE ########################################################## @@ -135,7 +135,7 @@ class AutoTestRover(AutoTest): self.progress("Checking number of saved waypoints") num_wp = self.save_mission_to_file( - os.path.join(testdir, "rover-ch7_mission.txt")) + os.path.join(testdir, "ch7_mission.txt")) expected = 7 # home + 6 toggled in if num_wp != expected: raise NotAchievedException("Did not get %u waypoints; got %u" % @@ -422,8 +422,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm) self.wait_ready_to_arm() self.arm_vehicle() - mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt") - self.load_mission(mission_filepath) + self.load_mission("rtl.txt") self.change_mode("AUTO") self.mavproxy.expect('Mission: 3 RTL')