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Tools: update path for rover test missions files

This commit is contained in:
Pierre Kancir 2020-03-10 13:19:34 +01:00 committed by Peter Barker
parent bcd15bc6e4
commit 4eceef1cef
16 changed files with 135 additions and 6 deletions
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6
Tools/autotest/ArduRover_Tests/AC_Avoidance/rover-fence-ac-avoid.txt Normal file
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@ -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

0
Tools/autotest/ArduRover-Missions/test_arming.txt → Tools/autotest/ArduRover_Tests/ArmFeatures/test_arming.txt
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7
Tools/autotest/ArduRover_Tests/CameraMission/rover-camera-mission.txt Normal file
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@ -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

20
Tools/autotest/ArduRover_Tests/DriveMission/balancebot1.txt Normal file
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@ -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

21
Tools/autotest/ArduRover_Tests/DriveMission/rover1.txt Normal file
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@ -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

0
Tools/autotest/ArduRover-Missions/rtl.txt → Tools/autotest/ArduRover_Tests/DriveRTL/rtl.txt
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6
Tools/autotest/ArduRover_Tests/GCSMission/rover-gripper-mission.txt Normal file
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@ -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

6
Tools/autotest/ArduRover_Tests/GripperMission/rover-gripper-mission.txt Normal file
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@ -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

7
Tools/autotest/ArduRover_Tests/Offboard/rover-guided-mission.txt Normal file
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@ -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

25
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-fence.txt Normal file
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@ -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

4
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidance/rover-path-planning-mission.txt Normal file
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@ -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

11
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRuler/rover-path-bendyruler-fence.txt Normal file
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@ -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

11
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-fence.txt Normal file
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@ -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

4
Tools/autotest/ArduRover_Tests/PolyFenceObjectAvoidanceBendyRulerEasier/rover-path-bendyruler-mission-easier.txt Normal file
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@ -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

2
Tools/autotest/ArduRover_Tests/Rally/rover-test-rally.txt Normal file
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@ -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

11
Tools/autotest/apmrover2.py
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@ -55,6 +55,9 @@ class AutoTestRover(AutoTest):
def test_filepath(self): def test_filepath(self):
return os.path.realpath(__file__) 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): def sitl_start_location(self):
return SITL_START_LOCATION return SITL_START_LOCATION
@ -67,9 +70,6 @@ class AutoTestRover(AutoTest):
def get_stick_arming_channel(self): def get_stick_arming_channel(self):
return int(self.get_parameter("RCMAP_ROLL")) return int(self.get_parameter("RCMAP_ROLL"))
def arming_test_mission(self):
return os.path.join(testdir, "ArduRover-Missions", "test_arming.txt")
########################################################## ##########################################################
# TESTS DRIVE # TESTS DRIVE
########################################################## ##########################################################
@ -135,7 +135,7 @@ class AutoTestRover(AutoTest):
self.progress("Checking number of saved waypoints") self.progress("Checking number of saved waypoints")
num_wp = self.save_mission_to_file( 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 expected = 7 # home + 6 toggled in
if num_wp != expected: if num_wp != expected:
raise NotAchievedException("Did not get %u waypoints; got %u" % 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.wait_ready_to_arm()
self.arm_vehicle() self.arm_vehicle()
mission_filepath = os.path.join("ArduRover-Missions", "rtl.txt") self.load_mission("rtl.txt")
self.load_mission(mission_filepath)
self.change_mode("AUTO") self.change_mode("AUTO")
self.mavproxy.expect('Mission: 3 RTL') self.mavproxy.expect('Mission: 3 RTL')